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562194 EN 08/08 CIROS® Studio 1.0 User's Guide

1. The program is integrated into the current project Festo Didactic GmbH amp Co KG 562194 55 4 Programming Close dialog box Project Management and activate the program window Choose command Compile Link from the Programming menu CTRL F9 or button to check the syntax of the program and to translate it into IRDATA code Eres Settnes window Help Osh a s eeee e Aadiale ea Soleo e e fet 2 e Basne e aoe e EZA x I 0 886 0 5 0 525 0 875 0 111 1 525 0 75 0 HELFA BASIC IV Compiler 5 0 0 0 E ev 1251 G Progcar resida and A T paranne 10 REM MELFABASIC TV fdec1 nba hudai i To MOV P2 50 O Warning a AQ MVS P2 50 HCLOSE 1 60 MVS P2 50 70 MOV P3 50 80 MVS P3 30 HOPEN 1 IRDATA Linker Version 5 0 0 0 mba db rob 100 MVS P3 50 110 MOV P1 120 END mba syevarlib rob mb prob You have developed an executable robot program for the work cell simulation The next chapter contains an example of simulating the modeled and programmed work cell 56 Festo Didactic GmbH amp Co KG 562194 5 Simulation This chapter contains the simulation of programs developed offline in CIROS 5 1 Choose the command Simulation Settings from the Simulation menu to Settings configure the simulation Simulation Simulation parameter Simulation Cycle Target Visualization Cycle 0040 5 l T
2. arameter Project status lt lt not specified gt gt Bw Version management lt No gt Gh Model protection lt No gt B E Messages and Errors E Confirm errors lt Yes gt Em Now you can activate the collision detection by the menu function Simulation gt Collision detection Replace line 220 in above sample program Mitsubishi mb4 as follows 80 MVS P3 10 A collision between work piece MyBox and the table will be generated The sensor simulation extends the capability of CIROS to simulate complete work cells Many sensors used in production automation can be parameterized and simulated realistically Moreover the visualization of measuring ranges helps to prevent errors in the planning stage This cannot be done in reality The sensor simulation is switched on by default In some cases it might be useful to switch off the sensor simulation to save computing time To switch the sensor simulation on resp off select the command Simulation gt Sensor Simulation By adjusting the settings of the sensor simulation you can choose how the measuring range and the measured value of a sensor shall be displayed within a work cell window Moreover you can specify a path in which CIROS searches for sensor definition files Festo Didactic GmbH amp Co KG 562194 5 Simulation Festo Didactic GmbH amp Co KG 562194 In a sensor definition file sdf all parameters which character
3. Restart simulation Executes the menu command Edit gt Reset Work cell and starts the simulation Track object Starts the object tracking Name of object to be tracked Make object invisible Makes an object invisible Name of object to be invisible Make object visible Makes an object visible Name of object to be visible Switch on light source Switch on a certain light source Index of light source to be switched on Festo Didactic GmbH amp Co KG 562194 101 6 Mechanisms Switch off light source Switch off a certain light source Index of light source to be switched off eS re ti Action Description Parameter SSS LLL k ee Open CIROS help Opens a HTML page of CIROS help HTML page to be opened in CIROS help Open popup window Opens a popup window containing text Text for popup window Set material Sets the transmission factor of one Material name transmission material to the value of the analoge input Move to camera cruise Sets the lookat in the work cell window Index of camera cruise stepl lookat that is associated to the camera cruise Set Level of Detail Sets the Level of Detail LOD Level of Detail Import CIROS work Imports one CIROS work cell into the Filename incl full or relative cell current model path 102 Festo Didactic GmbH amp Co KG 562194 7 Commu
4. E Inputs OF x MixerOn lt 0 gt PHReady lt 0 gt Wait 0 Next 0 Pipette0K 0 Ki E EUNIS 0 Grasp Attach Pipette Mixer PH_Measure Flush ulmi oooo0o0co x Teach In Activate the F8 key or select the menu function Programming gt Teach in In addition to the designations of the robot s joints the window that now appears includes two small buttons which can be used to advance the robot s individual joints The performance of a real robot is simulated when these buttons are activated The robot is accelerated to the preset speed override if one of these buttons is pressed and held The preset speed is then held constant and braking to a speed of 0 ensues when the button is released controlled by means of a acceleration ramp By clicking the corresponding option teach in can be performed using world coordinates or tool coordinates Inputs Outputs The window Inputs Outputs shows the states of the simulated robot controller s inputs outputs The current states of the inputs outputs are displayed next to their names 0 signals are displayed in red color 1 signals are displayed in green color The value of an input is displayed in brackets i e 1 if the input is connected to an output If the signal of the input is forced the value of the input is displayed in angle brackets i e lt 1 gt To open the window Inputs Outputs press F9 CTRL F9 or choose the command Show Inputs Show
5. Conform your settings by OK then the import will be started CAD Import STEP Import No of imported hulls 2189 CANON 3 we Generate section D912_M16X30 After import of non mod files you must in general adapt the geometric model corresponding the model hierarchy of CIROS During modeling of complex work cells the system loads standard components e g robots grippers assembly lines and PLCs from libraries Only cell or user specific sections must be modeled with the help of elementary hulls After inserting all cell objects you have to link the appropriate inputs and outputs of the controllable objects with the PLC and create the control programs Robot programs in different Festo Didactic GmbH amp Co KG 562194 3 Modeling languages can be created in CIROS and linked with position lists The programming of the PLC in Step5 Step7 has to be done by means of a PLC environment how they are offered by PLC manufactures or by software companies The PLC programs which are also part of the project can be loaded in CIROS and interpreted during the work cell simulation Following multi robot work cell is available as demo in your CIROS Studio version lt InstallationDirectory Samples KRL PressAutomation Model PressAutomation mod Programme TOON Prictersionat DE CAMEE RIE Presshutomation Maden Presshutomationmod nis arsit Ausf hren Etras Fe enster_ le P aee AAAA eela A e Bo e a E
6. Connection Sf Jog Operation Tool A Robot Type S Project Management Tool esta iJ Terminal Tool 0 System Variables Monitors eal Parameter Eh Error List B w Workplace j Programs En Tools 1 Object s selected Alternatively you can also open the Command Tool with the command Edit gt Command Tool Use the Command Tool to send commands to the robot as well as to insert robot commands into a robot program Command Tool x Sle ATEA a ma and motion control commands 7 Delete Down Editor gt Send directly Online Communication Connection to Robot OK fe _ gt Rohot gt Rob Edit eset Robot gt ii CNT xl Syntax MOV lt Destination position gt lt Close distance gt lt Conjunction conditions Close User defined commands 144 Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces In order to test the functionality of the Command Tool reset the slot contents first Then load your example program 3 into slot 1 Switch on the servo motors of the robot with the command Servos on from the context menu of the robot Fa RCI Explorer E x RCI Explorer Description vave Reduce Connection Robot Type S Start Cyc 3 Programs SR Start REP E Slots z Stop a3 System Variables E Parameter SA Sh Error List is Workplace Aa Current Alarm Programs SN a al Tools
7. Display mode If this option is activated the measuring range of each sensor is displayed by a line respectively a fan of lines You can choose the color of these lines by clicking the button Color Measuring rays normally start at the origin of the measuring coordinate system If this option is activated the measured value of each measuring ray of each sensor is displayed by a line normally starting at the origin of the measuring coordinate system to the detected object You can choose the line color by clicking the button Color The measured value of one single ray is not displayed if no object is detected by this ray You can determine the path the directory in which CIROS searches for sensor definition files Files with the extension sdf If the path is not specified CIROS searches the directory from which the current mod file was loaded Festo Didactic GmbH amp Co KG 562194 5 Simulation Setting sensor parameters Parameters of every sensor which is used within a work cell can be modified using the property page Sensor Properties This page can be opened as follows Open the model explorer Select the sensor whose parameters you want to modify and press the right mouse button to open the context menu Select the menu item Properties The page Sensor Properties is displayed now If for example a color sensor is selected the page looks as shown in the figure Properties for object 20x General Posit
8. EA RH SAHSS 1KB MB4 GA Connection 1KB POS Refresh E Open A Robot Type J Programs F Download Syntax Check E Slots system Variables Monitors el Parameter Copy Eh Error List Rename a w Workplace X Delete j Programs 8 Tools Properties Checks the syntax of the selected programs Festo Didactic GmbH amp Co KG 562194 121 7 Communication Interfaces How to Exchange Programs and Position Lists with the Robot 122 You can check the syntax of your program also by using the command Execute check Syntax The syntax checker finds syntactical errors in your program and displays the errors in the message window Load the syntactically correct program and position list into the robot controller Before you can exchange programs and position lists between the CIROS Studio PC and the robot controller the connection must have been established If the connection is established you can e Download a program to the robot e Download a position list to the robot e Upload a program from the robot to the PC Downloading a program The RCI Explorer offers a very easy and intuitive way to download a program from the PC to the robot controller Select the program you want to download to the controller in the folder Programs in your Workplace In the example the program 3 MB4 is selected Keep the left mouse button pressed and simply drag and drop the program into the folder P
9. RV A RH AH RP AH have so called slots In each of these slots a single robot program can run Thus several robot programs can actually be executed in parallel This type of program execution is called multitasking All other robot types have only one slot for program executions Thus they cannot be used for multitasking A series types of robots can execute the program in any slot but slot 1 is the default slot In order to start a program in a slot different from slot 1 you have to explicitly load the program into the desired slot Open the folder Slots If your program 3 is already loaded into a slot e g Slot 1 then reset the slots first Open the context menu of the folder Slots and select Reset amp Parameter 5 Error List B is Workplace J Programs 4B Tools LIM x RCI Explorer slot No Program name Condition Mode Priority E RH 5AHS5 Eso 3 START REP 1 STOP a Connection Esot 2 START REP 1 STOP A Robot Type Esot 3 START REP 1 STOP b ome Esot 4 START REP 1 STOP 38 Se avariat Pand START REP 1 STOP o System varial Monitors TE Refresh ETE START REP 1 STOP e START REP 1 STOP 1 Resets all slots If your parameter settings do not assign any programs to any slot parameter SLT1 to SLT32 then all the slots should now be empty Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces At the moment our program example is not designed to run in a slot other than slot 1 Thu
10. e MPS 500 This library enables you to build up MPS systems with integrated conveyor The dialog box Model Libraries can be opened as follows Modeling gt Model Libraries Toolbar The menu command File gt New provides you various options to open a new work cell e MPS system e Production Line e Project Wizard e Work cell If you select MPS system then enter a name for the new work cell and the editor to create a MPS system will be opened 24 Festo Didactic GmbH amp Co KG 562194 3 Modeling Festo Didactic GmbH amp Co Figure MPS system If you select Production Line then enter a name for the new work cell and the editor to create a production line will be opened Figure Production line If you select Project Wizard then following dialog box will be opened KG 562194 25 3 Modeling Project Name Program Name Directory Browse 26 Project Wizard step of 3 Project Name Program Name MyDemoProject 1 Directory E PROJECTS MyDemoProject Created by Initials Mr x x Description Demo project Figure Project Wizard The project name is used identify the project It will be the filename after saving and you must use this name to open the project later The default suggestion for the project name is UNTITLED During installation a directory Project Name below the CIROS CI
11. must meet the following requirements for the operation of the CIROS OPC coupling 32 bit Windows operating system Windows 2000 Windows XP Ethernet network card e TCP IP protocol Please consider the following notes for the communication between CIROS and the OPC server e Microsoft network Integrate the CIROS PC and the OPC server into a common Windows network and assign unequivocal computer names e User management Festo Didactic GmbH amp Co KG 562194 105 7 Communication Interfaces DCom Configuration Firewall Settings Note 7 3 PARSIFAL 106 Install two identical users with the same user name and the same password on the CIROS PC and on the OPC server Grant administrator rights to both users e Registration of the interface classes of the OPC server Register the class descriptions of your OPC server in the registry of the CIROS PC Note In most cases it is required to install the OPC Server also on the client PC in order to register the DCOM classes properly OPC is based upon the DCOM Distributed Component Object Model technology developed by Microsoft for distributed applications Hence the features of DCOM are used when CIROS and the OPC server of the external controller are running on different computer systems DCOM uses several security mechanisms that control the access to local applications over network Numerous system settings that are dependent on the network environment are nece
12. the context menu of the robot CI Explorer RCI Explorer a eS Connection Robot Type J Programs E Slots 08 System Variables Monitors Servos on 5 Parameter s ff E Error List erreso San ne E J Programs RS 4G Tools Get Position Robot gt PC Set Position PC gt Robot Properties Create Backup Load Backup Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Alternatively you can determine the cause of any current error with the command Execute gt Current Alarm Properties of the current error Closing the dialog box Properties of the current error with OK resets the current error Festo Didactic GmbH amp Co KG 562194 149 7 Communication Interfaces How to Backup your Robot Controller After you have created a robot project written programs and adapted the parameters according to your project you want to backup your data for future use Backup the complete data on the robot controller with any robot of the A series RV A RH AH RP AH Select Create Backup gt All in the context menu of the robot ta RCI Explorer E x RCI Explorer JDS amp gaies i ORS Folder Connection Folder a Robot Type el start CYC Folder ee H Start REP Folder 98 System Vari B Stop yess E Monitors Sarvas on Folder E Parameter by Error List Servos off Folder 1 cf Workplace Ra C
13. 001 digital 0 Push cylinder is not retracted 1 Push cylinder is retracted Examples Object Model Library Two Way Push Cylinder Miscellaneous Mechanisms Festo Didactic GmbH amp Co KG 562194 93 6 Mechanisms 6 7 The turning mover consists of two sections and a vacuum gripper that Turning Mover can be controlled by setting system inputs 2 and 3 Use system inputs 0 and 1 to control the position of the turning mover Mechanism Turning Mover Object Type Turning Mover ES ees System Input Output Input Index Type Value Description 000 digital 1 Moves to position A 0 _ 001 digital 1 Moves to position B 0 002 digital 1 Grasp 0 im 003 digital 1 Release 0 Pa Output Index Type Value Description 000 digital 0 Turning mover is not at position A 1 Turning mover is at position A 001 digital 0 Turning mover is not at position B 1 Turning mover is at position B Examples Object Model Library Turning Mover Miscellaneous Mechanisms 94 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms 6 8 Parts Feeder Mechanism Parts Feeder Use the mechanism parts feeder to model depots for workpieces etc The associated object contains a whole string of gripper points The sequence of these gripper points is important for the function of the parts feeder that is filled by moving objects with free grip points in the grip range of the feeder s gripper
14. 17 2 Operating 18 Stop recording The menu function Extras gt Camera Cruise gt Camera Cruise Stop stops the recording of a camera cruise Configure Camera Cruise To setup a Camera Cruise for a simulation model use the menu function Settings gt Camera Cruise All setting of the camera cruise are saved to the current work cell s ini file To apply changes write access to this file must be granted For backup purposes or further use in other work cells the list of steps can be exported to and imported from a file To import or export the list use the menu functions File gt Import and File gt Export and select file type CIROS Camera Cruise file extension ccc Festo Didactic GmbH amp Co KG 562194 2 Operating Options Add Remove F Start OH oo2 Hendling 5 004 3004 ICs 3 00 s 3200s TP 004 0 00 s 200s gy 005 Sddering 5 00 200s H cos 0 00 000e 4 007 TunT able 1 002 200e 4 cos 3 00 500s OY 009 5 004 200s OY 010 3 00 4 500s Ta 011 Ende 3 00 s 500s Add Remove Properlies a ay cove View list This list contains all views of the Camera Cruise To select a certain view click the number in column step You can open a context sensitive menu by clicking the right mouse button Double clicking a step changes the view of the active work cell window to the view of the camera cruise step To add the current view to the list click Add To remove the selected view from the list
15. 8 2 Q 2 s s amp 2 2 The license key has 10 memory cells model 1 10 Select one of them and click on OK to save the check sum The corresponding model can now be used in all educational packages using the same license key Note that it can happen you overwrite a already existing check sum Then the corresponding work cell is no longer usable in one of the educational packages of CIROS Thus it is advisable to maintain a list of all activated models 48 Festo Didactic GmbH amp Co KG 562194 4 Rregramming Programming of the Mitsubishi robots KUKA robots ABB robots Adept and Staubli robots can be done in CIROS Studio in their native programming languages e Movemaster Command or Melfa Basic IV e KRL e RAPID e Vplus Note that the programming languages KRL RAPID and Vplus are not part of the standard delivery of CIROS Studio You can also program the robots using the universal robot programming language IRL Industrial Robot Language You will find details about these different programming languages in the chapter Programming of the help system 4 1 This example shows the programming of the Mitsubishi robot RV 12SLin Example IRL The work cell modeled in the previous chapter is used Work cell Programming Choose command Open from the File menu to open the example work cell of the previous chapter Create a new position list by choosing command New from the File menu and selecting item Position L
16. Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces 7 2 The OPC coupling of CIROS enables you to connect external controllers OPC Controller Connection to the simulation system The external controllers can be of different kind controllers that perform basic logical and arithmetic calculations or controllers that control one or several kinematics Programmable logic controllers PLC belong to the first group and robot controllers to the second The communication interface used for the coupling of the controller and the simulations system is OPC OLE for Process Control OPC is a standardized software interface definition that facilitates and standardizes the data access of PC based applications within the automation engineering field For a controller that is to be coupled to CIROS an OPC server must be disposable that provides controller internal information to communication partners The OPC coupling of CIROS is realized as an OPC client which retrieves the necessary information from the server and passes them to the CIROS kernel The coupling is realized as an extension module and is fully integrated into the user interface of CIROS Since the coupling also has an adequate controller interface to CIROS an external controller shows exactly the same behaviour as a controller that is integrated in CIROS and that emulates the program processing and the kinematic functions Setup and Installation Your simulation computer PC
17. If the connection initialization is successful the dialog Robot Type displays information regarding the robot type the robot programming language and the amount of free memory Fa RCI Explorer RCI Explorer Description value nN E RH SAHSS Z Connection Type R5232 MS Connection ee No Connection A Robot Type J Programs aa EEN 8 System Variables Seed Monitors 5h Parameter Eh Error List is Workplace J Programs e Tools Disconnect Properties Establishes a connection to the robot 4 Check if the configured robot type matches the actual type of the connected robot In the RCI Explorer select the folder Robot Type Fal RCI Explorer xi RCI Explorer Value E A RH SAHES Robot Name RH SAHSS Connection B Controller Name CRn 5xx a R pe Siy Operating System Ver H1 es E copyright COPYRIGHT C 1999 MITSUBISHI ELECTRIC Robot Language MELFA BASIC IV 8 System Variabl 1 System Variables Ea Current Program COSIROP Monitors Parameter irre Memory 207522 Bytes Eh Error List No of Robot Programs 14 Ef Workplace Eno of add Axis 2 Programs Tools 9 Object s Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces You get information concerning the type of the connected robot the version of the operating system the actual robot language and the number of available robot programs on the robot controller How to Write a You are
18. Outputs from the menu View gt Inputs Outputs Festo Didactic GmbH amp Co KG 562194 15 2 Operating Ei Conuoner Selection ISTE Master Controller Activity Start Stop Controller Q Handing AP 3AH Soldering RP 3AH cl _ Sctewing RP 5AH E O_ PCBHanding AVE4N Q O CaseHandiing RV E4N Palletizing RV E4N x MITSU_RV_E2 C COSIMIR PEI ES 2090 PL 710 700 2100 SF 710 702 2130 MS 700 2140 TI 5 EO AZ IRV E2 C COSIMIR SAMPLES MITSUB Fifa ES Nr Postion Orientation 488 6 20 7 520 180 0 90 S 488 6 64 8 290 180 0 90 488 6 64 8 340 180 0 90 488 6 64 8 520 180 0 90 4 ETF CE Check lamp 1 OK z Start assembly Assembly stopped Check lamp 2 OK Start assembly Assembly stopped heck lamp 3 OK Start assembly Assembly stopped Check lamp 3 OK Bal e 16 Controller Selection The window Controller Selection shows the states of all controllers of the work cell You are able to choose the master controller and to observe the activity of the different controllers Display of robot positions inputs outputs and teach in is always done for the emphasized robot master To open the window Controller Selection select the command Controller Selection from the Programming menu Robot Program Click the menu function File gt O
19. Simulation enables the user in CIROS to simulate Fault Simulation faults that occur during the production process The fault simulation is switched off by default To switch the fault simulation on resp off select the command Extras gt Fault Simulation Modeling The fault simulation discriminates the following faults e Object faults Select the dialog Properties for object of the object that should have a fault Here you can enter the start and the duration of the fault Properties tor objet Dimension Visualization Extended Fault 4 gt m Fault Type Breakdown z m Start Hour f 0 Min b Sec 0 000 m Duration IV Until the End of a Simulation Run Hof oH mn 0H see 20000 y e 1 0 Connection Faults Select the dialog Properties for input of the input that should have a fault Here you can enter the start and the duration of the fault 82 Festo Didactic GmbH amp Co KG 562194 5 Simulation Properties for input M i fest ES Hour Sy Min EE Settings In the dialog Properties for work cell you can change the following settings Properties for workcell e Fault Simulation Activation Here you can switch the fault simulation on and off e Password Festo Didactic GmbH amp Co KG 562194 83 5 Simulation Fault Setting Fault Localization 84 Here you can change the password to activate the teacher mode Select Reenter to le
20. X Delete RE Upload Load into Properties Debugs the selected program Note In the debug mode the robot actually moves according to the movement commands The Debugger opens with the selected program Set the current line to the first program line Select the first program line with the mouse and set it as currently active line by pressing the icon shown in the following picture 130 Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Debugger a xi S aeS le am X 2 Sitne 37 Retesh ims ft00 al Online Program None 3 Cang e 10 My first robot program 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 OVRD 10 60 MOV P1 70 HOPEN 1 80 MVS P2 90 HCLOSE 1 100 MOV P1 110 END A small green arrow marks the currently active line This is the line that will be executed next by the robot program Now set breakpoints by double clicking on the program lines on which the program is supposed to stop during debugging Press on the icon shown in the following picture and start the breakpoint debugging ER Bl x SlotNr 3 Refresh ms100 7 Progra ks Online ae Line 10 l GN OFF gt 10 My first robot program 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 OVAD 10 60 Mov PI 7OHOPEN 1 Festo Didactic GmbH amp Co KG 562194 131 7 Communication Interfaces 132 Progra
21. be refreshed The value can be interpreted as refresh work cell window each visualization cycle seconds A very low value means that the window will be refreshed very often which may due to a higher need of machine power result in slowing down the simulation Since the simulation is recalculated each simulation cycle the value of the visualization cycle must always be equal to or greater than the simulation cycle This option ensures that the state at the end position of a robot motion visualized even if it lies between two visualization cycles Select this option to enable the real time visualization The visualization cycle will then be adjusted dynamically to provide real time views of a running simulation This parameter determines a constant amplification P to control the Visualization Cycle Values range from 0 1 to 0 6 Asmall value means a slower compensation higher values may force fluctuations or even oscillations Selecting Realtime makes the system set the Visualization Cycle automatically to reach a synchronization between the simulation time and the real clock Festo Didactic GmbH amp Co KG 562194 59 5 Simulation In case that a model is very complex it can happen that real time control is not possible due to too high machine power requirements This would result in permanently increasing the visualization cycle To avoid this effect the maximum visualization cycle can be limited to a certain value T
22. by drag and drop Start programs in any slot you want and keep track of the actual state of your robot parameters error messages system variables etc It has never been so easy to test your programs in deep The new Debugger supports a breakpoint oriented online debugging of Festo Didactic GmbH amp Co KG 562194 107 7 Communication Interfaces How to Setup a new Project with CIROS Studio 108 your robot programs Set breakpoints wherever you want Start your program in any line use single stepping forward and backward The online debugger is the ultimate test tool for detailed online testing of your programs Before you can write robot programs you have to open your work cell or you start the project wizard using the menu function File gt Project Wizard Project Wizard Step 1 of 3 x Project Name Program Name DEMO 1 Directory C Documents dnd Settings dka My Browse Documents CIROS MitsubishisProjects DEMO Created by Initials Festo Didactic Description P Help Cancel lt Back Next gt Finish Insert your desired Project Name into the appropriate field of the dialog box The dialog box will come up with the project name UNTITLED In the example the project name is DEMO You can enter any valid file name without file name extension into this field As Program Name insert e g 3 For each new project you create CIROS Studio will create a new directory with the
23. click Remove Festo Didactic GmbH amp Co KG 562194 19 2 Operating Properties To edit the properties of the selected view with dialog box Camera Cruise Step X click Properties To move up the selected view click this button g To move down the selected view click this button g 20 Festo Didactic GmbH amp Co KG 562194 3 Modeling 3 1 Model Hierarchy gt gt 95 5 S There are several tools i e model libraries and the Model Explorer for CIROS providing a comfortable modeling of robot based work cells By means of a simple example work cell a short introduction in work cell modeling is given in this chapter The CIROS model hierarchy contains the following element types Objects The highest units in the element structure are the objects Example A robot is an object Sections Sections are assigned to objects One degree of freedom can be associated to each section that is moveable relatively to the previous section Example Each joint of a robot is a section Hulls Hulls are assigned to sections and are responsible for the graphical representation Example A face a box or a polyhedron are hulls Gripper Points An object needs a gripper point to grasp other objects Gripper points are assigned to sections Example At the flange of a robot a gripper point is modeled Grip Points To be grasped by another object an object needs a grip point Grip points are assigned to s
24. download only a certain number of lines switch off the option Complete Program and insert line number for From Line to To Line For MELFA BASIC IIl and MELFA BASIC IV the line numbers have to be in the range between 1 and 32767 for Movemaster Command between 1 and 9999 Before the download the specified line range is cleared in the robot controller Furthermore insert the program name that will be used for your program in the controller This field is always initialized with the file name of the program on the PC If you are programming in MELFA BASIC and you are using line numbers larger than 9999 be sure to check Delete all before Downloading If this option is chosen a program in the Drive Unit will be deleted even if it contains line numbers larger than 9999 If this option is not selected line numbers larger than 9999 will not be erased independent of the line number you specify in the To Line section Position lists will not be deleted Press the OK button to start the download All commands that are Festo Didactic GmbH amp Co KG 562194 123 7 Communication Interfaces transmitted to the drive unit are displayed on the screen After each command the alarm error status of the drive unit is checked If an error should occurs the download will be aborted and the erroneous command is displayed 124 Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces If you are trying to download an empty progra
25. h GripperBlue L inactive 001 i digital 0 E Inputs 000 digital O 2 Outputs 001 digital 0 2 gh inactive 001 002 digital 0 2 g OpenPress 003 digital O o oPressJob 004 digital 0 o iene pas 00s digital 0 o inactive 004 Ahi p oo pa P g X Ei inactive 005 al inactive NNF nn lini al n n off 1 output selected ti 4 Select the output PresslsOpen with the mouse and drag it to the input PressisOpened of the robot The connection is ready Festo Didactic GmbH amp Co KG 562194 3 Modeling Load of a S7 program The S7 simulator interprets executable S7 programs Each work cell can contain several PLCs In each PLC a S7 program is running While loading the PLC module the appropriate S7 program is loaded like wise Of course you can exchange the standard S7 PLC program by another S7 program Before the first usage of a work cell the PLC does not contain any program So the appropriate S7 program must at first be assigned to the PLC Proceed as follows e Make sure that the simulation is stopped see chapter 5 e Choose the command Programming gt Controller selection Following window is opened Master Controller Activity Start Stop kayeiw Be P pdd a PLC e Select in the column Master the desired PLC by clicking the appropriate field here PLC e Choose the command File gt Open This opens the File open dialog Select in the combination field type of file the entry S7 project This w
26. in a green highlighting of all inputs that have changed at last Stop at Value Change Activation of this menu entry results in assigning or deleting of stops to inputs An icon shows the user if a stop is assigned If a stop is assigned and the input value changes the simulation run is stopped Delete all Stops Deletes all assigned stops Function Text Via the context menu you can change this dialog to the function text view The dialogs then looks like Manual Operation E xj Function Text Function Text Magazine Push Cylinder is moved in o Magazine Push Cylinder is moved out 1 Magazine Air Pressure Move out o o o 1 Valve Push Cylinder Electrical Control M 0 2 Magazine Push Cylinder move out 0 Magazine Push Cylinder move in n Magazine Air Pressure Move in Sensor Patt detected oR Ey anon There are similar functions available for the output signals The COSCABLE module offers the simulation of flexible hoses and cable tracks for CIROS Shape and position of it is calculated in simulation frequency Because of the simple way of modeling it easy to equip work cells with powerlines robots and other mechanisms with properly sized hoses for electric and pneumatic power in the virtual world Festo Didactic GmbH amp Co KG 562194 69 5 Simulation Even lengths of hoses can easily be adapted and interactively set properly on static and moving parts This new object type has full
27. is dependent upon the selected point of view Fit e Zoom Mouse wheel or left mouse button and function keys Ctrl shift The mouse pointer appears in the form of this button and can then be used to enlarge or reduce the display by moving the mouse e Translate Left mouse button and function key shift The mouse pointer appears in the form of this button and can then be used to move the display by moving the pointer along the coordinate axis e Rotation Left or right mouse button and function key CTRL The display can be rotated around the individual coordinate axes 12 Festo Didactic GmbH amp Co KG 562194 2 Operating S8 Joint Coordinates Mi E3 Joint 0 0 Deg Joint2 0 0 Deg Joint3 110 0 Deg Joint4 0 0 Deg Joint5 75 0 Deg Joint6 0 0 Deg S8 World Coordinates Mie EG Pos 371 1 mm Y Pos 0 0 mm Z Pos 542 0 mm Roll 90 0 Deg Pitch 0 0 Deg Yaw Right Above No Flip You can also select various predefined standard views Use the menu function View gt Standard to this end A dialogue box appears which includes various options e Default Setting 0 e Front view V e Rear view U e Top view A e Left hand side view L e Right hand side view R By clicking with the mouse on one of these options you get immediately the corresponding view if your work cell window is active Joint Coordinates The window joint coordinates shows the positions of the single robot joints The d
28. itself can not generate such polyhedron It has to be modeled with CIROS or a text editor The controller calculates the vertices only Ployhedron of a bent hose 76 Festo Didactic GmbH amp Co KG 562194 5 Simulation The wireframe representation shows the structure of such a single object hose This object type needs some more properties Properties for object General Pose Dimension Visualization Extended Fav lt gt Extended properties a Length E CablelsOneSegment 2 CableRadius L NumberDfE dges E NumberOfT ums Edi Delete Type 3 If a cable track is needed another property must be set Additionally to the properties of type 1 the property CableDuct with the value TRUE must be present The property RatioSE does not have an effect in this mode The movement direction of the track is the z axis of the start gripper point The height of the cable track results automatically form the position of the end gripper point because the start and end line are parallel and are leading through the start and end gripper Festo Didactic GmbH amp Co KG 562194 77 5 Simulation Cable track with its start gripper point Its Z axis is the movement direction 78 Festo Didactic GmbH amp Co KG 562194 5 Simulation Object Properties for the COSCABLE Object the hose should be twisted less than a complete turn the start or endpoint can be rotated arou
29. no object can be gripped You may also switch off these warnings Move the robot to position POS2 by double click on the position entry in the position list Select the modus XYZ Jog world coordinates in the Teach In window and press the button to move the robot in negative y direction Insert the new position POS3 in the position list by the short cut Ctrl F2 p 5 Oni Fie Edt vew Mod Wg Smdaton Extas setings Widow Heip JOSH Be B S AAAAEL A Lea o ml fee at ee mia mole loom Eee e ae e ee g KZ Jog JOINT Jog TOOLJea POSL e20 0 0 0 886 0 Li POEZ ls75 0 25 0 525 0 ie Stopped 432 s 11 20 05 Save the position list as Example psl Select the command Reset Workcell from the menu Simulation Use the menu command File gt New gt File to open a new IRL program Save the program as Example IRL Close the Model Explorer and the property dialog box Use the program wizard to generate a simple body of the program Activate the programming window and select the menu Programming gt Programming Wizard Select all options and press OK Festo Didactic GmbH amp Co KG 562194 4 Programming 1886 0 280 0 180 875 0 25 0 525 0 180 0 180 R 875 0 111 1 525 0_ 180 0 180 Change the program to a simple pick and place task where the safety positions should be 50 mm above picking and placing positi
30. support for collision detection 70 Festo Didactic GmbH amp Co KG 562194 5 Simulation Modeling The object type COSCABLE supports three different types of hoses and tracks e Type 1 simulation of hoses consisting of lined up segments which poses are calculated by the object controller e Type 2 simulation of hoses consisting of a single polyhedron by directly modifying the positions of its polyhedron points vertices by the COSCABLE controller e Type 3 simulation of cable track systems consisting of lined up segments running on lines and half circles which poses are calculated by the object controller Specification is done by the object property dialog setting the object type to COSCABLE Properties for object General Position Dimension Visualization Extended Fault Name A CableT ube Parameters A Parameters for CableTube Material lt lt no material gt gt Q Object type lt COSCABLE gt Control lt lt No controller gt gt A Level of Detail x a noat oam Lan Festo Didactic GmbH amp Co KG 562194 71 5 Simulation Modeling of Start and End 72 The first and last segment of this object type needs to contain grip points for defining the start and end of the object These grip points own a property with the name of a corresponding gripper point and by this way they are attached to each other The starting grip point has got the name StartG
31. the grip range of the gripper s gripper point All sections of the gripper object that have a degree of freedom are moved to their upper limits Thus the movement of gripper chucks is simulated Mechanism Gripper Object Type Gripper ST System Input Output Input Index Type Value Description 000 digital 1 Closes the gripper 0 Opens the gripper Output Index Type Value Description 000 digital 0 Gripper is not closed 1 Gripper is closed Examples Object Model Library Parallel Gripper Miscellaneous Grippers Three Jaw Gripper Miscellaneous Grippers 88 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms 6 2 If there is another object with a free grip point above a conveyer belt Conveyor Belt object the object is moved along the active surface of the conveyor belt if the grip point lies inside the grip range of the active surface This only works if system input 0 of the conveyor belt is set to high If the object is moved up to the end of the active surface system output 0 is set to high Mechanism Conveyor Belt Object Type Conveyor Belt a a aT a a L System Input Output Input Index Type Value Description 000 digital 1 Switches the conveyor belt on 0 Switches the conveyor belt off 001 digital 1 Conveyor belt transports backwards 0 Conveyor belt transports forward Output Index Type Value D
32. the import of CAD files The menu Edit includes all standard Windows functions you may expect The menu View includes all functions supporting you to use the graphic representation of the 3D simulation The menu Modeling includes all functions you need in order to create or modify models The menu Programming includes all functions in order to program robots The menu Simulation includes all functions to start and stop the simulation to configure the setting of the simulation to activate the collision detection the sensor and transport simulation The menu Extras provides following special functions o Camera Cruise This function enables you to create a predefined dynamic change of your viewpoint during simulation or to create videos of your simulation o Fault Simulation This menu provides all functions in order to simulate faults in work cell o Master Frame concept Festo Didactic GmbH amp Co KG 562194 2 Operating Online Management This menu provides all functions to establish a powerful online communication to a Mitsubishi robot controller Solution Finder It provides a powerful script language to create simulation processes Create Plant This menu allows you to generate a xml data model for a superordinate control system e The menu Setting enables you to configure numerous functions O O O Or 0 OO Om Oo O Or e Festo Didactic GmbH amp Co KG 562194 CAD import Displa
33. to do the first steps in modeling a new work cell The advanced tutorial shows how to use advanced modeling mechanisms The third tutorial describes all steps in order to realize a transport system for packages controlled by a PLC You can add a geometric model to a work cell Besides the mod file format following other formats are available for the import e CIROS I O connections cct e CIROS camera cruise ccc e CAD format STEP stp step Use the menu function File gt Import To create a work cell you can use at first the included libraries Further you can also use components of prepared work cells For that purpose you have to save the components as mod files Then you can import them If you want to import a STEP file you will be asked for the name of the file Then following dialog box will be opened Festo Didactic GmbH amp Co KG 562194 3 Modeling Scale Factor Deflection Duplicate Facets EAD Import i x Common Import Options aa Object Settings Object Hierarchy Deep x IV Add Unique Index to Objects Scale Factor fi Surface Color E x Deflection zz Line Color Ez I Duplicate Facets JT Import lines OK Abbrechen Hilfe 9 __ E e The first options ask you to decide how the CAD data shall be mapped on the object hierarchy of your model e Adeep hierarchy means that your model consists of many objects containing only one section after the import e A flat
34. to start and select Start CYC or Start REP in the context menu Li x RCI Explorer FileName Size Savedat__ _Lines E RH SAHSS Ep 303 Bytes 03 04 17 5 Connection 478 Bytes 03 04 17 a Robot Type 5 lt j Programs H Slots 08 System Variables gt Open Monitors SENN al Parameter EN Eh Error List EH Start REP es Workplace 4 4 stop 3 Programs RHAH Luss 5 5B Tools EA aspFcH Debug 7 1 B3 Copy Arpitest Ba 5 Rename ES CHECKERS j 43 Suntituep X Delete 1 3 Upload Load into gt Properties Executes the selected program once There are two commands to start a robot program Use the command Start CYC 1 cycle to start the program once Use the command Start REP repeated to start the program in a continuous loop With the command Start REP the program continues until the program is stopped by a user command Stop the program with the command Stop from the context menu It is also possible to stop the program without the RCI Explorer Use the command Execute gt Program Stop to stop the program If you start a program the robot controller loads the program into the so called slot 1 before it is actually executed If you want to start the program in a slot different from slot 1 then you have to load the program into this slot first Festo Didactic GmbH amp Co KG 562194 133 7 Communication Interfaces 134 Robots of the A series
35. waa te Pe Obeas oben Qo cae contol E RRS gh oka RH eas oa ob np E Foto RP SAH e ul _ Mitsubishi Electric MELFA RV I2SL Techies Spectic sion aczoring to manufseturei Electrical dine AC eornator Feachatle radius 1385 mn Festal ofjin imita deof Select the Parallel Gripper simple of library Miscellaneous Grippers in dialog box Model Libraries and click Add The gripper is attached to the robot s flange automatically PUA Parallel grippa sirpa Model Deval Ohjeet eonirolertyne oct stipe Modeled with Denavt Hartentierg parameters ss of freedom 2 parallel aas 8 correctione 38 Festo Didactic GmbH amp Co KG 562194 3 Modeling To simulate the electrical connection between the robot controller and the gripper select the menu command Modeling gt Manual Operation to open the window Manual Operation Manual Operation j ioj xj Index Station Name Function Text 1 0 Connections o 1 Gripper RY 12SL RY 125L SRVON 0 o 2 Gripper Gripper Close RY 125L RY 125L ERRRESET 3 Rv 125i RV 125L RW 125L IOENA RV 125L RV 125L HOPEN1 RV 125L RV 12SL HCLOSE1 RY 125L RV 125L HOPEN2 10 RV 125L RV 125L HCLOSE2 11 RY 125L RV 125L HOPEN3 12 RV 125L RY 125L HCLOSE3 13 RV 125L RV 125L HOPEN4 14 RV 125L RV 125L HCLOSE4 ayaa eeeeeeeeeee z A The window shows the inputs on the left side and the outputs on the right side In between the I O connectio
36. 04 Next to the host entry you will find a drop down box with all available OPC servers Use this field to select the desired OPC server After clicking on read items the list below will be filled with available OPC items Note The OPC server must be running This pull down box can be used to select which part of your CIROS object you would like to configure Outputs are read from the server to CIROS inputs are written to the server by CIROS Joint values can only be read Depending on the choice made in this field the number of available items and the display of already configured elements of your object may vary Select the desired connection The default value Best connection uses the best available connection This is automatically detected using the following sequence ASYNC V2 00 ASYNC V1 00 SYNC Alternatively you can select an entry to use only a specific type of connection Use the table to select the entry which you want to configure From the list of items select the item which shall be connected to the selected element Then press Change The table entry will be extended by the new OPC item If a desired item is not available for configuration please check the read write permission settings of your OPC server Check this option to log extended output to the message window Automatic configuration The Configuration manager button opens the Configuration Manager which allows you to manage different configurations
37. 17 lt 3 Programs E Slots System Variables a tS Open i Monitors ENE Parameter Elm start CYC 6 Eh Error List 19 B Gs Workplace 5 J Programs 3 y Tools fa 1 RP1TEST 5 Ba Coy A cHECKERS 3 ae 43 unte iia 1 X Delete fE Upload set maen Slot 2 T Slot 3 Slot 4 Slot 6 Slot 7 Loads the selected program into the desired slot Slot 8 Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Now open the folder Slots Start your program in slot 5 with the command Start CYC from the context menu fa RCI Explorer i RCI Explorer E RH SAHSS e Connection a Robot Type Programs E Slots System Variables Monitors at Parameter Sh Error List Ei Start REP SfE Workplace Stop 3 Programs i Tools Monitor Program SR Variables EE Properties Executes the program of the selected slot once Stop the program execution with the command Stop from the context menu Discover next how to monitor your running program How to Monitor running Monitor the execution of your programs Open the context menu of a Robot Programs slot with the right mouse button and select Monitor Program E RCI Explorer Slot No Program name Condition mode Priority state E RH 5AHS5 Connection A Robot Type j Programs E Slots system Variables Monitors amp l Parameter Es Error List Workplace lt j Programs 9G Tools Opens the Pr
38. 562194 7 Communication Interfaces How to Work with the RCI Explorer Then select the number of I O Interface Cards only required for the 1 0 Monitor the number of Hands only required for opening and closing hands in the Jog Operation the number and type of Additional Axes required for Jog Operation and the Programming Language which is essential for opening of the correct program window You can only choose between different programming languages for robots of the RV EN and the A series RV A RH AH RP AH Robots of the RV M and RV E series can only be programmed in Movemaster Command MRL Press the button Finish to create the project A work cell window the RCI Explorer an empty robot program window the associated position list window and the message window will be opened and arranged on your monitor Several files for the project itself the program and the position list are created in the directory Project Name The RCI Explorer is an information and data exchange center It gives you an overview of the current state of the robot and provides an intuitive way to upload download start debug and monitor robot programs x RCI Explorer E A RH SAHSS e Connection B Robot Name RH SAHSS E Controller Name CRn 5xx EP HA iy Operating System ver H1 s Sma E copyright COPYRIGHT C 1999 MITSUBISHI ELECTRIC ae Robot Language MELFA BASIC IV a System Variables Fac tp Monitors urrent Program W
39. 62194 3 Modeling ia 3 9 Activate Model Sets the masterframe to the position the currently selected element s If more than one element is selected the geometrical center of the selection will be calculated and used as current position of the selection Sets the masterframe to the position of the current robot s TCP Opens a dialogue in which the position of the masterframe can be entered directly Using the masterframe to position elements Moves the current selection to the position of the masterframe If more than one Element is selected each of the selected elements will be moved to the position of the masterframe Sets the TCP of the current robot to the position of the masterframe The menu command File gt Activate Model is only available in CIROS Studio This command generates a check sum for the actual model which will be saved in the license key Using these check sums it is possible to make up to ten own work cells usable in the educational CIROS packages CIROS Mechatronics CIROS Advanced Mechatronics CIROS Robotics CIROS Production Note that the activated models must be compatible to the corresponding versions of CIROS e g CIROS Mechatronics can only run one PLC controller Open the model you wish to activate in CIROS Studio Select the command File gt Activate Model Following dialog box will be opened Festo Didactic GmbH amp Co KG 562194 47 3 Modeling x
40. Detection 62 Open the example work cell of the previous chapters l5 x 7 GIROS Studio For Educational Purposes Oniy i Settings Wndow Help E peue i ereere Adelea eeno eeN aanwe Badle ruvu E amp x se low i em ww S A tal z ina E 7 GAProgram Files bidactic CIRDS Automation Suite LONCIOS studioen No Poston Orientation Pi a20 0 0 0 886 0 150 0 180 Pe les c 25 0 525 0 _ 150 0 160 sit View Mo Po 75 0 111 1 525 0 189 0 180 F 10 REM MELFABASIC_IV R 2mov i 30 MOV P2 50 40 MVS P2 50 HCLOSE 1 60 MVS P2 50 70 MOV P3 50 80 MVS P3 90 HOPEN 1 100 MVS F3 50 120 END To start simulation choose command Start from the Simulation menu The program is simulated step by step The simulation time is displayed in the status bar Because of the source code sequence trace the currently executed command is highlighted in the program window Before you start simulation a second time choose command Reset Work cell from the Simulation menu This command resets all objects as well as the robot By the collision detection you can detect collisions in your applications You are able to select objects for checking Use the menu function Settings gt Collision detection to this end Click the Selection index card The index card displays a list of all of the objects included in the work cell Select the Selected objects against each oth
41. F Memory 206813 Bytes eal Parameter EN Error List Emo of Robot Programs 15 is Workplace Emo of add Axis 2 J Programs Sh Tools The RCI Explorer contains two folders The first folder is the robot folder The name of the folder matches the robot name you have configured in the second step of the project wizard This example makes use of the robot RH 5AH55 The robot folder provides access to the data on the robot controller The Festo Didactic GmbH amp Co KG 562194 111 7 Communication Interfaces second folder is the Workplace It contains the data on your PC in the project directory 112 Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces In the robot folder you find information concerning the connection to the robot controller the connected robot type the programs currently available on the robot controller the contents of the program slots the system variables the state of the robot using a wide range of monitors the robot parameters and the most recent errors In the workplace folder you find the programs and position lists currently available in the CIROS Studio project directory on your PC and the CIROS Studio tools Before you can exchange programs and position lists between the CIROS Studio PC and the robot drive unit the following you have to do the following steps 1 Connect a serial interface of the CIROS Studio PC to the RS 232 interface of
42. FESTO CIROS Studio 1 0 User s Guide 562194 EN 08 08 Order No 562194 Edition 08 2008 Author U Karras Graphics U Karras Layout 08 2008 U Karras J SaSenscheidt Dortmunder Initiative zur rechnerintegrierten Fertigung RIF e V 44227 Dortmund Germany 2008 Internet www ciros engineering com Festo Didactic GmbH amp Co KG 73770 Denkendorf Germany 2008 Internet www festo didactic com e mail did festo com The copying distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited Offenders will be held liable for the payment of damages All rights reserved in particular the right to carry out patent utility model or ornamental design registration Contents 1 1 1 2 1 3 1 4 2 1 2 2 2 3 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 5 1 5 2 Festo Didactic GmbH amp Co KG 562194 Introduction 5 The 3D Simulation System CIROS 5 Text Formats 6 System Requirements 7 Installation Instructions 7 Operating 9 The CIROS User Interface 9 Window Types 12 Camera Cruise 17 Modeling 21 Model Hierarchy 21 Model Libraries 23 Model Explorer 32 Example Work cell Modeling 33 Modeling via Import 40 Integration of a PLC into a work cell 42 Texture Mapping 46 Masterframe Concept 46 Activate Model 47 Programming 49 Example Wo
43. Get Position Robot gt PC Set Position PC gt Robot ey Properties Create Backup Switches the servos of the rol Load Backup 7 Send the motion commands MOV P1 and MOV P2 to the robot The robot will move to the desired positions The Command Tool offers a structured list of robot commands and displays a short syntax description for each command Use the Command Tool to send commands to the robot using the button Robot The current command can either be selected from the command list or entered using the keyboard The Command Tool remembers the last 20 commands which have been sent to the robot Choose the class Last commands to display the least recently used commands Use the button Send directly only to communicate with a robot program or if you have detailed knowledge about the communication protocol This command does not add necessary modifications to the command Instead the command is sent as it is To directly communicate with a running robot program you can also use Festo Didactic GmbH amp Co KG 562194 145 7 Communication Interfaces How to Change Parameter Values 146 the Terminal Furthermore you can build up your own list of favorite commands by using the button Add in the group User defined commands This list can be displayed by choosing the class User defined commands These commands will be stored together with the project Sometimes it might be necessary to change internal robot prope
44. H amp Co KG 562194 7 Communication Interfaces OT Download Position PC gt Robot p Positions M Show Dialog Cancel Help The dialog box Up und Download is displayed In most cases it is best to can use the standard settings Be sure that the option All Positions is selected If you want to download only a special range of position numbers switch off the option All Positions and insert values for From Position and To Position There are no limits for position numbers in MELFA BASIC III and MELFA BASIC IV In Movemaster Command the position numbers are limited to 1 to 999 and for the RV M1 the range is 1 to 629 Before the download the old positions in the selected range are cleared Note that the old positions are not cleared if you use MELFA BASIC IV Additionally you can add a name The default name is the name of the file position list on the PC If you use a different name be sure to use the same name that you have used for the program beforehand It is also very easy to upload all the programs on the robot controller back to the PC Festo Didactic GmbH amp Co KG 562194 127 7 Communication Interfaces 128 Uploading a program The procedure for uploading is very similar to the downloading procedure Again it is best to use the RCI Explorer Just drag and drop the program from the Programs folder of the robot to the Programs folder of your Workplace Optionally you can us
45. MagazinePushCylinder lsMovedin StackMagazine PuchCylinder _IsMovedQut StackMagazine HydiaulicMov HoseLED StackMagazine HydraulicMoy HoseLED IFS Erkannt OR aioa sials ma By a double click a red LED you can change the corresponding input value Is the input connected the connection is released temporarily and the input is forced to 0 or 1 The connection is established again e Executing the menu command Simulation gt Reset Work cell e Saving or closing the work cell e Executing the menu command Restore I O connections in the context menu of the dialog manual operation If you select a connected input or output the corresponding output or input is highlighted By a double click in the column Value of the inputs you can enter values directly especially for analog inputs Set Reset Executing this menu command the input is forced temporarily to 0 or 1 Disconnect Controllers The connection of all connected inputs for all controllers are released and forced to their current value Restore I O Connections All 1 O connections that were changed via the dialog manual operation are established again All inputs that were forced via the dialog manual operation are set to the condition before calling the dialog manual operation Festo Didactic GmbH amp Co KG 562194 5 Simulation Context Menu Outputs 5 6 Hose and Cable Track Simulation Show Value Changes Activation of this menu entry results
46. OSED Debugger CLOSED 1 Object s selected In order to monitor the value of a local variable add the counter variable MCOUNT to your robot program My first robot program a 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 GETM 1 Get robot 1 for this program 60 OVRD 10 70 FOR MCOUNT 1 TO 100 Counter MCOUNT 80 MOV P1 90 HOPEN 1 100 MVS P2 110 HCLOSE 1 120 MOV P1 130 NEXT MCOUNT Increase counter 140 RELH Release robot 1 END Festo Didactic GmbH amp Co KG 562194 139 7 Communication Interfaces 140 Download the modified program to the robot load it into slot 5 and start the program Select slot 5 in the Variables Monitor and add the variable MCOUNT to the list of the monitored variables with the arrow buttons Variables Monitor E Template ewe Slot Nr TE Profile Hep Close Refresh Timefms 100 hd Online ON Start the monitor by pressing ON and observe the changing value of MCOUNT Variables Monitor xi Tenplete SetValue siotnr Profile Hee oe f Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Double click on the variable name to open the dialog Set Value Use it to change the value of the variable MCOUNT Observe the change in the Variables Monitor Slot p Program Name faMB4 Variable MCOUNT Value 19 There are actually many more monitors available Check the ro
47. ROS Programming directory is created automatically According to the selected project name a subdirectory with just that name is created and all files belonging to the project are stored there Note The character lt gt apostrophe within the project name is automatically replaced by the character lt _ gt underscore Enter the desired program name into this edit field The program name is used as a Suggestion when downloading a program into the drive unit After downloading the program you may use this name to start the program or for a subprogram call Festo Didactic GmbH amp Co KG 562194 3 Modeling Created by Initials Description General The Directory field shows the currently selected location to save the actual project It shows the drive and path not including the filename You may alter the location by using the browse button The default suggestion for the directory is the actual directory Enter a name to identify the author of the project robot program etc Enter the author s initials e g for referencing in the project description or the project history This field may be used for a description of the project All data entered within this dialog will be saved if you change to another step of the project wizard or leave the wizard using Finish All data entered within this dialog and during the actual use of the project wizard will be lost if leaving the wizard using Cancel Festo Did
48. a new program window with the command File gt New too Then execute the command Execute gt Upload Robot gt PC This will again open the dialog box Up and Download After pressing the OK button the program will be uploaded line by line from the robot controller and finally displayed in the program window During this upload the original program file on the disk will be overwritten and there is no way to restore it You are now ready to debug your program directly on the robot controller Read and observe the safety instructions of the SAFETY MANUAL carefully before operating or programming the robot with CIROS Nobody must be in the safeguarded area when debugging your program Now as you have downloaded your robot program successfully to the robot controller it is time to test your program online on the robot controller Locate last errors with the online Debugger Start the Debugger by using the context menu of your program Right click with the mouse on the name of the program in the folder Programs inside the robot folder Select Debug In the example the debugger for the program 3 is opened Festo Didactic GmbH amp Co KG 562194 129 7 Communication Interfaces ta RCI Explorer i x RCI Explorer E RH SAHSS 303 Bytes 03 04 17 Connection 478 Bytes 03 04 17 A Robot Type Sj Programs Slots 08 System Variables Monitors Parameter Eh Error List a w Workplace J Programs A Tools Rename
49. aB Perala alada wees iea xsse ee ransas wst REE EP Tous sae Bape Edit the element properties in dialog box Properties for object as follows Pose x y z 750 mm 250 mm 0 mm Dimension x y z 250 mm 500 mm 500 mm Visualization Light blue In the Model Explorer rename the object Box to Table Festo Didactic GmbH amp Co KG 562194 35 3 Modeling Add a second box to your work cell Rename it by MyBox and edit the element properties in dialog box Properties for object as follows Pose x y z 850 mm 0 mm 500 mm Dimension x y z 50 mm 50 mm 50 mm Visualization Light grey 36 Festo Didactic GmbH amp Co KG 562194 3 Modeling To let a work piece be grasped by a robot you have to assign a grip point to the work piece Select the group base of the object MyBox and open the context menu Choose the command New gt Grip point Rename the grip point to Workpiece and move the grip point in the centre of the object by choosing following coordinates relative to the section coordinate system Pose x y z 25 mm 25 mm 25 mm R P Y 180 0 180 Setimgs Win JO SRR KBRRE SHH Mi 2 Sim ele ele AoAo poo e eee awst x pee eee Be nova asa Select the Mitsubishi Robot RV 12SL from the library Mitsubishi Robots and click Add Festo Didactic GmbH amp Co KG 562194 37 3 Modeling el enie
50. actic GmbH amp Co KG 562194 27 3 Modeling Step 2 3 Robot Type O interface cards Hands Programming Language 28 Project Wizard Robot Parameters Step 2 of 3 Robot Type RV 12SL 140 Interface Cards Additional Axis 1 L1 Fil 2 EE DER G none C lin C iot Hands Additional Axis 2 LJ oi 82 ES DES c f iir rot Programming Language C Movemaster Command E MELFA BASIC IV Help Cancel lt Back Finish Use this list box to select your robot type The selected robot is shown in the upper right area of the dialog Selects the number of interface cards of your drive unit The maximum number of cards to select depends on the actual robot type Movemaster RE xxx 3 cards Movemaster RV M1 2 2 cards Select the number of hands of the robot here The programming language selected here is used for the creation of a program file and selects the der syntax checker This item is only available if the selected robot type supports more than one programming language If there is only one possible language for the robot or the controller this language is selected automatically Festo Didactic GmbH amp Co KG 562194 3 Modeling Additional Axis 1 L1 Additional Axis 2 L2 Step 3 3 Use this item to determine the first additional axis You may specify the type of the axis The selection lin describes a travel axis rot a rotating table Use this item to determine the second additional a
51. an type 2 Type 2 requires a completely modelled single segmented polyhedron with N Layers which vertices are calculated by the object controller Textures Textures on hoses or conduits make them much more attractive Estimation of length The object controller is ideal for estimation of length of hoses or conduits or cable tracks because the parameter Length is adjustable very easy and the user has instant visual feedback of his manipulations With this method the lengths for real wry bent or twisted cables and tracks can be found very easily CAD data for cable tracks Many manufacturers of cable tracks are offering 3D Data download on their home pages which can be imported by CIROS This makes modelling much easier and faster Quality of Simulation The hose calculated by the object controller mathematically is a bezier curve Its run can be very near to reality but can not be compared to it because dynamical effects like mass weight stiffness or inner life are not taken into account Festo Didactic GmbH amp Co KG 562194 5 Simulation Examples You can find a demo model for a hose on a robot in lt CIROS directory samples CableSimulation RobotWithHose RH 5AH55 mod You can find a demo model for a cable track at a storage system in lt CIROS directory gt samples CableSimulation StorageWithCableTrack x Y Storage mod Festo Didactic GmbH amp Co KG 562194 81 5 Simulation 5 7 The module Fault
52. arnings are displayed If no errors and warnings are displayed then close the message window and your program can be started IRDATA is a standardized low level code needed to download robot programs created in different programming languages CIROS processes IRDATA code created by compilers for different high level programming languages Festo Didactic GmbH amp Co KG 562194 4 Programming Melfa Basic IV Project IRDATA files created by CIROS may be only used inside CIROS Do not use IRDATA files created by CIROS with robot controllers As above you may also create a Melfa Basic IV program For that purpose you have to open a MRL position list and a Melfa Basic IV program The new files will be named as Example pos and Example mb4 For the purpose of simulation the program as well as the position list must be integrated into a MELFA Basic IV project Create a new MELFA Basic IV project in dialog box Project Management command Project Management from Execute menu Choose command Add Project or click button to add a new project named Mitsubishi prj In page Files of the dialog box add the program and the position list by clicking button and selecting the files Declare the program Mitsubishi mb4 as Main Program 151d Adee eo 88 sa ele falas ia iN ies aw ERS Kw Ae low Anna Bele fe75 0 111 1 525 0 _ 180 0 180 F es speni olx
53. at upper limit Examples Object Model Library Rotary Drive Miscellaneous Mechanisms Festo Didactic GmbH amp Co KG 562194 91 6 Mechanisms 6 5 Turntable All axes of turntable object are moved to the upper limits if system input O is set to high If there is an object with a free grip point inside the grip range of the turntable s active surface the object is moved with the turntable Mechanism Turntable Object Type Turntable ee OEE System Input Output Input Index Type Value Description 000 digital 1 Turns the turntable 0 Output Index Type Value Description 000 digital 0 Turntable is moving 1 Turntable stand still Examples Object Model Library Turntable Miscellaneous Mechanisms 92 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms 6 6 The function of the two way push cylinder is similar to the function of Two Way Push Cylinder the push cylinder For the purpose of control there are two system inputs According to this there are two system outputs for the cylinder s state Mechanism Two Way Push Cylinder Object Type Two Way Push Cylinder TY System Input Output Input Index Type Value Description 000 digital 1 Extends the push cylinder 0 001 digital 1 Retracts the push cylinder 0 z Output Index Type Value Description 000 digital 0 Push cylinder is not extended 1 Push cylinder is extended
54. ate or deactivate the fault localization executing the menu command Extras gt Fault Simulation gt Fault Localization SA rault Localisation StackMagazinewith No fault ElectricValvelnOut No fault ElectricValvelnOut In No fault 2 PushCylinder Limit switch Expanded defect BAD HydraulicMoveOut No fault a HydraulicMoveDut In No faut DW HydraulicMoveln s Nota SY lt 2 HydraulicMoveln In Cable break a Irs a Shott circuit against voltage In the teacher mode password both LED columns will be shown If the teacher mode is not activated you will only see the first LED column Yellow LED A localization is set Green LED The localization complies with the fault in the fault setting Red LED The localization does not comply with the fault in the fault setting By a double click on the column Type of a single row a list opens that contains possible types to localize These names correspond to the names in column Type of the fault setting Fault Log J amp Fault Log x Date Time Object Input Localisation 1 12 03 2004 08 51 36 PushCylinder Breakdown 2 1203 2004 08 51 40 HydraulicMoveln Hose Defect 3 12 03 2004 08 51 42 PushCylinder Sensor Moved 4 1203 2004 08 51 44 HydraulicMoveln In Cable Break 5 1203 2004 08 51 47 PushCylinder Sensor Moved You can activate or deactivate the fault executing the menu command Festo Didactic G
55. ave 118 Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces How to Create a Position List Using the Robot A Read and observe the safety instructions of the SAFETY MANUAL carefully before operating or programming the robot with CIROS Studio Nobody must be in the safeguarded area when using the JOG operation Usually you use the T B teach pendant to create position data Have a look at your Instruction Manual for a detailed description of how to create position data Once you have created position data with the T B it is easy to upload the position data into a position list on your PC Simply use the program upload You will get your position data as a position list and additionally any program lines you might have created with the T B Alternatively you can create and modify a position list interactively using CIROS Studio Open the window Jog Operation by double clicking on the tool Jog Operation LI x RCI Explorer p E A RH SAHSS a Connection A Robot Type J Programs E Slots a System Variables Monitors ell Parameter Ea Error List B w workplace J Programs 4G Tools 1 Object s selected Festo Didactic GmbH amp Co KG 562194 119 7 Communication Interfaces 120 Optionally you can also open the window Jog Operation by the command Execute gt Jog Operation Use this window to jog the robot in JOINT XYZ and TOOL coordinates Use the button Current Position gt Pos Lis
56. ave the teacher mode e Fault Log Here you can specify a new file for the fault log The fault log records all actions of the fault localization e Show Delete Here you can show the fault log or you can delete it You can activate or deactivate the fault setting either executing the menu command Extras gt Fault Simulation gt Fault Setting In the dialog fault setting you get an overview of the modeled faults NAFault Setting ga StackMagazine Pneumatic Supply def 0 01 w 2 PushCylinder Sensor Moved In defect 0 00 lt x 3 IFS Displacement 0 00 KA 4 HydraulicMoveln Hose Defect 0 50 2 00 Ka 5 ElectricValveln0ut Valve permanently op 1 00 Enabling the check box you can specify the faults to be considered The LED shows the fault status of the object LED is of The fault is not yet active or is ignored Red LED The fault is active Green LED An active fault is over Yellow Bar This fault is localized and it is ignored By a double click on the column type of a single fault a list opens that contains possible types for this fault Thereby you can change the fault type of an object or an I O connection By a double click on the column begin of a single fault you can enter a new beginning of a fault By a double click on the column duration of a single fault you can enter a new duration of a fault Festo Didactic GmbH amp Co KG 562194 5 Simulation You can activ
57. bot state with some of the other robot monitors How to Monitor Robot Start your program example and again and open some of the monitors States To open a monitor double click on the monitor in the folder Monitors CI Explorer Eg RCI Explorer Description vale _ state__ Refresh Time E e RH SAHSS T O Monitor Tool amp Connection Programs Tool CLOSED z F Robot Type s Robot Position CLOSED 5 Programs cs a Sie Variables E Speed Droop Monitors E Encoder Values Tool CLOSED parameter L Motor Load Tool CLOSED Bh Error List 11 Motor Currents 1 Tool CLOSED ft workplace 12 Motor Currents 2 Tool CLOSED Programs V Motor Power Tool CLOSED Tools Zg variables Tool CLOSED Ti inputs Tool CLOSED iQ outputs Tool CLOSED z input Registers Tool CLOSED E Output Registers Tool CLOSED F Debugger Tool CLOSED 1 Object s selected Open the monitor Robot Position Watch the changing joint and world Festo Didactic GmbH amp Co KG 562194 141 7 Communication Interfaces 142 coordinates of the current position as the robot moves Robot Position x j Joint Coordinates World Coordinates Refresh Time ms deg or mm deg or mm Ji 10 383 J 5313 Ja 78 304 Ja 123 518 so so J7 171105 Js 12 898 il pE in 9 PrN x x 2 E ill pE SS g Help Eo os e Open the mo
58. ct port and set the communication parameters of the serial interface appropriately The default port is the serial port that has been selected during the installation LIT x Common Serial Interface TCPAP Default Settings for gt Other Options AV EVAP Series Port comz xl Baud Rate o z m Timeout Data Bits feo send 2 Seconds 1 30 ath Receive 5 Seconds 1 120 stpBi j z Flow Controt M DTR M RTS CTS I XON XOFF 5 6 Disable the teaching box If you have a robot of the A series RV A RH AH RP AH set the key switch on the robot controller to Auto Ext Establish the logical connection between CIROS Studio and the robot drive unit by executing the command Execute Init Connection which will communicate with the robot and determine the type of the robot and some parameters of the robot and display them in the dialog box Robot Type If this dialog box will be displayed the communication to the robot drive unit has been established and programs and position lists can be down and uploaded Festo Didactic GmbH amp Co KG 562194 115 7 Communication Interfaces How to Check the Robot Type 116 8 Establish a connection between CIROS Studio and the robot controller Use again the context menu of the Connection Select Connect to establish the connection Alternatively you can use the command Execute gt Init Connection to establish a connection
59. ctory and file names You can use lower case letters too quotation marks Options chapter titles and links Text formats for plain text Text Format KEY1 KEY2 Means If you have to press two keys at the same time a plus sign is printed between the two keys KEY1 KEY2 If you have to press two keys one after another a minus sign is printed between the two keys Text formats for keyboard shortcuts Festo Didactic GmbH amp Co KG 562194 1 Introduction At least Pentium IV 1 GHz 512 MB RAM 5 GB free disk space Windows 2000 XP VISTA 1 3 Minimum configuration System Requirements Processor Memory Hard disk Operating System Graphic Adapter CD ROM drive Interface Graphics card with Open GL support 128 MB RAM One free serial interface for connection to the robot controller drive unit or a network interface for the TCP IP connection One USB port for the USB license key Recommended configuration Processor Memory Harddisk Operating System Graphic Adapter Monitor DVD ROM drive Interface Internet access Intel Core Duo 2 2 GHz 1 GB RAM 10 GB free disk space Windows 2000 XP VISTA Graphics card Nvidia 7800GT 512 MB RAM 19 with 1280x1024 pixel resolution One free serial interface for connection to the robot controller drive unit or a network interface for the TCP IP connection One USB port f
60. ds the complete backup of the robot data User defined Select the folder that contains your backup data After your data is successfully recovered switch the robot controller off and back on again to confirm the changes Use the backup folder only for data backups of your robot and for data recovery Do not try to download single backup files with the program download of CIROS Studio if the backup files have the same names as regular CIROS Studio programs Under no circumstances try to transfer CIROS Studio program files with Load Backup to the robot The file formats are different and the robot programs will be destroyed and cannot be recovered Festo Didactic GmbH amp Co KG 562194 151 8 Appendix 8 1 Key Keyboard Usage SH SH FT F5 FT F4 ALT F4 F7 SH F8 F9 SH FT F7 FT F9 CTRL N CTRL O SH F12 FT F12 CTRL P CTRL A ALT EINGABE CTRL X CTRL C CTRL V CTRL K CTRL E CTRL T Shortcut Cascade windows Tile windows Quit the program Displays the joint values of the robot Displays the tool coordinates in world coordinates Displays the window Teach In Displays the input signals Displays the output signals Command File New Command File Open Command File Save Command File Save as Command File Print Command Edit Select all Command Edit Properties Command Edit Cut Cuts the selected text out of the window and puts it into the clipboard Command Edit Co
61. e the context menu of the robot program Right click with the mouse on the program 3 Select Upload in the context menu to start the upload of a program and its associated position list Note that the program is uploaded into your Workplace folder but it is not opened on your monitor If you want to upload and open the program select Open from the context menu or simply double click on the program name fa RCI Explorer 4 x RCI Explorer FileName Sze saveda Lines a Wi siss or 303 Bytes 03 04 17 5 Connection 478 Bytes 03 04 17 A Robot Type j Programs i 2 Refresh E Slots 8 system Variables IFA si pe ae OREM i Monitors F MRL l E Start CYO i 5 Parameter oa Eh Error List 1247 111 Sy Start REP 19 a z B w workplace a RHSAH 30 Es Stop 5 3 Programs 3 YE Tools 1 a ar RPITEST Copy 5 a peapa Rename i X Delete Load into N gt Y Properties Uploads the selected programs from the robot to the PC sat Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces CE Upload Program Robot gt PC Fi F De From Line ME To Line pa F All Position From Position ES Ta Position po M Show Dialog Cancel Help How to Debug a Robot Program A Alternatively you can also upload programs and position lists without the RCI Explorer Activate the program window that is to be used for the uploaded program You can open
62. ections Festo Didactic GmbH amp Co KG 562194 21 3 Modeling Example A grip point is associated to a work piece that has to be grasped 22 Festo Didactic GmbH amp Co KG 562194 3 Modeling 3 2 CIROS Studio provides a wide range of model libraries for Use these Model Libraries model libraries to add new objects or model parts to a work cell Following model libraries are available e Robots ABB robots Adept robots Fanuc robots KUKA robots Mitsubishi robots Reis robots Staubli robots Miscellaneous e PLC Logic controller Siemens S5 S7 Logic controller Miscellaneous controllers e Miscellaneous Grippers Primitives Materials Mechanisms LEDs Sensors Textures e Modeling Essentials Predefined working objects i e gravitational surface Linear 3 axis kinematics replicator trashcan transceiver transponder etc e Extended Mechanisms Gear Box servo motor cardan shaft crank slider flap door hydraulic linear axis etc e Festo FMS This library contains numerous prepared CNC and robot assembly work cells conveyor systems and automatic warehouses to build up a automated plant system Festo Didactic GmbH amp Co KG 562194 23 3 Modeling The work cells provided prepared robot and PLC programs to realize manufacturing and assembly processes which have to be supervised by some control system e MPSstations This library contains all actual MPS stations with prepared S7 programs
63. er option in order to determine whether or not the selected objects collide with each other Festo Didactic GmbH amp Co KG 562194 Warning Collision Detection J 21xi Display Messages Selection Check Gripper Select all AV 12SL Deselect all Selected objects against each other C Selected objects against all You may adjust the distance between two objects which leads toa collision message Click the Check indexing card Here you are also able to detect collisions while gripping This is useful if you want to detect the inexact positioning of a gripper Objects which are controlled by the collision detection can be coloured corresponding their status The color of the edges or areas can be chosen by preferences Secondly collisions can be put out as confirmed or unconfirmed messages You are able to adjust this by clicking on Messsages index card If you select the option of confirmed or unconfirmed messages then you have to open the property window General of the work cell Make sure that the parameter Confirm Errors of the class Messages and Errors is set to Yes Festo Didactic GmbH amp Co KG 562194 63 5 Simulation Example 5 4 Sensor Simulation Switching on and off Settings of the sensor simulation 64 Properties for workcell T 21x General ones General Display Nare Grid A Libraries Arbeitszelle Print Sensor Simulation Fault Simulation Fault PARSIFAL
64. erties for input 21x Actions Actions to execute amp Unconfirmed Message 0 00 ActionO1 at value 0 i Confirmed Message 1 00 ActionO1 at value 1 Now certain actions have been associated to certain output values of the simulated object Properties for Input Configure the properties of an Action Object s input with the corresponding dialog in the tab control Select the input to be configured in the Model Explorer and open Actions in the tab control Properties for input Click New to associate a new action with the selected input Click Edit or Remove to edit or to remove the action selected in the list 100 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms Actions Action Unconfirmed message The following actions are available Description Writes an unconfirmed message in window Messages of CIROS Parameter Message text Confirmed message Opens a message box that has to be confirmed Message text Show picture Shows a picture Filename of picture bmp Format Play sound Plays an audio file Use the switch cyclic Filename of sound wav to let the sound be played as long as the format input value of the Action Object is the configured value Play video Plays a video file Filename of video avi Format Show www page Opens a WWW page in the standard browser URL of HTML page Open CIROS work cell Opens a work cell Filename of work cell
65. escription 000 digital 0 There is no object at conveyor s end 1 There is an object at conveyor s end Examples Object Model Library Conveyor Belt Miscellaneous Mechanisms Festo Didactic GmbH amp Co KG 562194 89 6 Mechanisms 6 3 Push Cylinder Mechanism Push Cylinder The push cylinder is extended if system input 0 is set to high If there is an object with a free grip point in the grip range of the push cylinder s gripper point the object is moved by the push cylinder The push cylinder is retracted if system input 0 is set to low Object Type Push Cylinder System Input Output Input Index Type Value Description 000 digital 1 Extends the push cylinder 0 Retracts the push cylinder Output Index Type Value Description 000 digital 0 Push cylinder is not extended 1 Push cylinder is extended Examples Object Model Library Push Cylinder Miscellaneous Mechanisms 90 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms 6 4 The mechanism rotary drive is based on the push cylinder mechanism Rotary Drive Mechanism Rotary Drive Object Type Rotary Drive a Sa ST SS eS eS System Input Output Input Index Type Value Description 000 digital 1 Rotary Drive moves to upper limit 0 Rotary Drive moves to lower limit Output Index Type Value Description 000 digital 0 Rotary Drive is not at upper limit 1 Rotary Drive is
66. he elements of a work cell Besides objects and associated elements you are able to maintain materials libraries lighting sources and I O connections too lt gt Hodel Caplorer gh PCEMortrg Name spo Inpa l fe Ovects E Conrado Addtcnal axis 24531 E5 Sigh Templates AP CIConveyoSlopliadixa Cowever Dek 2 E PC3Cunrreyu SlupSuuetry Come Bel 2 LS P RC SPH an tiny Piria Red PraRepiraine Replica 1 PC3Trashcen Trash Zen 1 a SensoSokerng SEN_INDUE TIY 0 E SensoPLsHarding SER_INDURINY u a Somo Handng SER INDURI P u E Sonso PC3Ticskcan SEM INDUKTIV 0 Senso TT C0 SCN INDUKTIY 0 E SemoTT Ies SEM INDUKTIV o gfh Mateiak Senso TTIC SENINDUKTIY a E g livaries SEN_INDUKTIY 0 Fh CocrHer ilir SFNLINDIIKTIY n A Handing SFR_INDIIKTIY n Ah Palet cin Corepa Bek 2 4 PCDI anding Replicator 1 2 Cerewire SER_INDUK INSU u k a foliar SEM INDURI PAU u 2 J Jernechone 4 0 Ligg Henan r J Bay Lomactorse Midis S PC3Canea Cor vesvi Cowen Bel 2 4 1 abjecl ceectad Navigation Tree Element List The Model Explorer s window is divided into two parts In the left area a navigation tree contains folders with the different elements of a work cell If you select a folder in the navigation tree the element list in the right area of the Model Explorer is filled with the folder s elements To access an element select the element in the navigation tree or in the element list by clicking on
67. he range of the visualization cycle is always between the simulation cycle and the simulation cycle 60 Festo Didactic GmbH amp Co KG 562194 5 Simulation Simulation Real Time Ratio Simulation Cycle Optimization Minimal simulation cycle The parameter entered determines the relation between simulation time and real time The default value 1 0 controls the simulation time according to realtime a value greater 1 0 makes the simulation time run faster then realtime Selecting the value 5 0 makes the simulation time run five times faster than realtime A simulation period of 50 seconds will take 10 seconds in realtime Select this option to use spare computing power of your machine in order to improve the simulation cycle The simulation cycle will then be optimized dynamically depending on the unused computing power The lower limit for the simulation cycle can be defined in the field Minimum simulation cycle This field defines a lower limit for the option Simulation Cycle Optimization The selection Model Update switches the update of model calculations like belts or process simulation from the very small cycle Controller Cycle to Simulation Cycle The setting Controller Cycle may lead to decreasing performance for some models on the other hand Simulation Cycle may evaluate to some inaccuracies Festo Didactic GmbH amp Co KG 562194 61 5 Simulation 5 2 Example Work cell Simulation 5 3 Collision
68. hierarchy means that your model consists of only few objects with several sections The scale factor enables you to adapt the seize of the objects in your work cell in compare to the dimension of your CAD model The default value is 1 The value of the deflection determines when a new facet will be generated for the curvature of your model The default value is 1 1 mm If the value is too high then the curvature of your model might look rather angled Facets are only visible in direction of their normal vector If for example a facet is modeled such that its normal vector points to the interior of the object then the facet is only inside visible In this case you may use the dialog box Facets Duplicate Then the facet will be duplicated but with the opposite orientation Festo Didactic GmbH amp Co KG 562194 41 3 Modeling Import Lines Add Unique Index to Objects Surface Colour Line Colour 3 6 Integration of a PLC into a work cell 42 Hence it will be also visible from outside However this procedure increases the number of the facets of your model If your CAD file contains polylines then you can import them CAD files allow that several objects appear with the same name This option makes sure that the objects get an index after import If the CAD file does not provide a colour for a surface or a line then this option makes sure that after import the corresponding surface or line has the selected colour
69. icator mechanism for creation of new objects based on Replicator templates The extended properties of the replicator object contain the assignment of system inputs and templates example template 0 Workpiece If a system input is set to high a new object based on the associated template is created at the gripper point of the replicator object Mechanism Replicator Object Type Replicator a i System Input Output Input Index Type Value Description 000 digital 1 Create first configured object 0 Z 001 digital 1 Create second configured object 0 00n digital 1 Create n th configured object 0 E Examples Object Model Library Replicator Miscellaneous Mechanisms Festo Didactic GmbH amp Co KG 562194 97 6 Mechanisms 6 11 The trash can is the counterpart of the replicator Use the mechanism Trash Can trash can to remove objects at runtime Each system input of the trash can object is associated to a gripper point If system input 1 is set to high and there is an object with a free grip point inside the grip range of grip point 1 of the trash can object the object is removed Please note that all objects that have been removed by this mechanism are not recovered by choosing command Reset Work cell from the Edit menu Mechanism Trash Can Object Type Trash Can S SS ST System Input Output Input Index Type Value Description 000 dig
70. ill display all files in the current directory according this data format e Select the desired S7 project by a double click on the file name or by selecting the file and pressing the Open button afterwards Festo Didactic GmbH amp Co KG 562194 45 3 Modeling 3 7 Texture Mapping 3 8 Masterframe Concept 46 Use texture mapping to let pictures display on object s surfaces ina work cell The texture mapping can be easily realized as a material property Provide your object s surface with a material Select the material and open the dialog box Properties for Material Now you can change the texture of this material by choosing some bmp file Properties for material a 2j xi Texture Extended Name A Ju Studio Bilder_EN Circles bmp aS Available textures L N The masterframe is a user defined frame x y z R P Y which can be used for the positioning of elements or the tcp of the current robot during graphical modeling The masterframe is controlled by the following toolbar buttons Showing hiding the masterframe Use this button to show hide a coordinates system which represents the masterframe Positioning the masterframe The masterframe can be positioned either by directly entering it s coordinates using the MasterFrame Location dialog or by moving it to the position of an element automatically Sets the masterframe to the position of the 3D Cursor Festo Didactic GmbH amp Co KG 5
71. ion Dimension Visualization Extended Sensor Sensor Properties Sey Sensor description of Sensor Sen Sensor type lt Color sensor H E Delay element H E Watch lists Display Measuring range Reference colors Color tolerance lt 0 gt Modify o4 0 255 In the upper part of the page single parameters can be selected which then may be modified in the lower part of the page Some parameters may exist multiply like for example reference color If you want to add another element of such a parameter please click the right mouse button on any already existing entry of this parameter to open the context menu Choose New to generate a new entry with default values If you want to delete an element of such a parameter please open the context menu on the entry you want to delete and choose menu item Delete Notice that only the last element of a coherent chain of elements can be deleted Festo Didactic GmbH amp Co KG 562194 67 5 Simulation 5 5 Manual Operation Context Menu Inputs 68 To switch the manual operation on resp off please select the command Modeling gt Manual Operation The dialog Manual Operation shows the inputs on the left side and the outputs on the right side You can change the input values Manual Operation E x Object 1 __ StackMagazine Hydraulic In 0 2 StackMagazine Hydraulic In n 3 CPValveTeminalElectic In 0 Object Output Stack
72. is determined by linear interpolation Thus the viewpoint moves uniformly At the configuration of the Camera Cruise you can schedule times for holding a certain view and for zooming to another viewpoint As the Camera Cruise is synchronized to the simulation time the viewpoint movement is always synchronized to the simulation of the work cell You can also save a Camera Cruise in a video file At this several compression methods are supported In the video file File extension AVI all view during the cruise are saved The video file has the same name and is stored in the same directory as the model file Extension MOD of the actual simulation model Switching Camera Cruise on To switch a camera cruise on use the menu function Extras gt Camera Cruise gt Camera Cruise If the camera cruise is switched on the view follows the configured cruise of the camera during simulation Recording Camera Cruise To record the view of a camera cruise first switch on the camera cruise Then use the menu function Extras gt Camera Cruise gt Camera Cruise Record The view will then be recorded to a video file which will be saved in the model folder under the name model name avi Playback a Camera Cruise Video To play back a recorded Camera Cruise in CIROS use the menu function Extras gt Camera Cruise gt Camera Cruise Play This will open the video file in your operating systems default media player Festo Didactic GmbH amp Co KG 562194
73. isplay unit for rotational joints is degrees for linear joints it is millimeters A double click into this window opens the dialog box Set Joint Coordinates To open the window joint coordinates press F7 or choose the command Show Joint Coordinates from the menu View gt Robot Position World Coordinates Activate the Shift F7 key combination or select the menu function View gt Robot position gt Show world coordinates The World coordinates window displays the position and orientation of the TCP tool centre point in world coordinates In addition to position and orientation the robot s configuration appears in the bottom most line in the window You may select following different orientation representations by the menu Settings gt Orientation Representation e Roll Pitch Yaw angles representation e Quaternions representation e Mitsubishi 5 axis coordinates representation Festo Didactic GmbH amp Co KG 562194 13 2 Operating Note In this case the world coordinate system is always equal to the base coordinate system of the robot 14 Festo Didactic GmbH amp Co KG 562194 2 Operating RE ia Close Hand S houlder an 3 E bow ca ai Pitch EH JOINT Jog ma GA tool Jog Jog Overide _ Set Joint Coordinates o z Position List I Insert Position Help EE Close Hand z G XZJog JOINT Jog TOOL Jog Set XYZ Position ee x Peston List i Insert Pasion L ox Hep
74. ist 4 You are able to open dialog box new by clicking button in the toolbar or by using the shortcut CTRL N Festo Didactic GmbH amp Co KG 562194 49 4 Programming 50 Accept the initial position of the robot as first position POS1 of the position list Use the shortcut CTRL F2 to accept current robot positions in position lists Select the last free entry in the position list and use the shortcut CTRL F2 a second time This position POS2 has to be changed Select the grip point of the object MyBox in the Model Explorer and open its property Pose Choose the world coordinate system as reference coordinate system Select the position by clicking on the entry with the left mouse button and open the dialog box Position List Entry via the context menu Transfer the position data of the grip point to position POS2 Click on OK and close the dialog box Festo Didactic GmbH amp Co KG 562194 4 Programming E acarana z a en TH ref FO r Use the menu Settings gt Grip to configure the grip control via the Teach In F8 window Select the output HCLOSE1 and press OK O en s ed et ri o or ar Press Close Hand respectively Open Hand in the Teach In window in Festo Didactic GmbH amp Co KG 562194 51 4 Programming 52 order to open or close the gripper of the robot Confirm the warnings that no object near the gripper or
75. ital 1 Remove object at gripper point 1 0 2 001 digital 1 Remove object at gripper point 2 0 _ 00n digital 1 Remove object at gripper point n 0 ps Examples Object Model Library Trash Can Miscellaneous Mechanisms 98 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms 6 12 Action Objects Use Action Objects in CIROS to execute different actions because of output values of any object The Action Object must have inputs only und have to be configured of type Action Object Properties for object 2 x General Position Dimension Visualization Extended eA oe bject Parameters A Parameters for ActionObject Material lt lt No material gt gt Object type gj Control lt lt No controller gt gt Action Object Ea Change Action Object z The inputs of the Action Object are connected to outputs of simulated objects e g robots x Model Explorer Arbeitszelle Bg Objects L Input Action02 5j F SA npa L Index 001 Els Inputs fh Type digital Eg fal H Value 0 zh e e L Connected Output Output AAV zl De chion E from Object RV E4NM E J Templates Materials S Libraries 1 0 Connections Lightning 1 input selected Li Each input of the Action Object is able to be configured For different Festo Didactic GmbH amp Co KG 562194 99 6 Mechanisms input values different actions can be defined Prop
76. ize a sensor type are stored All sensors are marked by an object type in MOD file object_type which begins with SEN_ The following letters specify the filename of the SDF which contains the description of the sensor see figure Single parameters are identified by keywords model definition ile sensor definition file reflex sar example mod SOS IMIR Sensor Rerlex SsusurType SEN_OPT_REFLEX Duin 10 Diax 100 Principle TRIANGULATION RecOffset 10 ubiecl 3 Sensur ub jest type The extension of the SDF is always sdf The file has the same format as a Windows INI file It starts with a section name which is given in squared brackets This name always starts with CIROS Sensor After that the name of the sensor definition file without extension follows Upper and lower case are not distinguished To modify the settings of the sensor simulation you must at first open the dialog box Sensor Simulation Settings Open the model explorer Use the right mousebutton to click the work cell A context menu pops open Open the submenu Properties and select the tab Sensor Simulation 65 5 Simulation Show measuring range Show measured value Sensor definition file 66 Properties for workcell 21x General Display Grid Libraries Print Sensor simulation Visualization M Show measured value s a Path of sensor definitions m The following settings can be modified
77. m execution stops at the first breakpoint Now continue using the single step mode In the single step mode only the command in the currently active program line is executed Afterwards the currently active line moves on to the next program line Execute a single step by pressing the icon shown in the following picture g E ENE H Hix jz XI Slot Ne 3 Refresh ms f100 7 Metal Online Name Line 60 GFF 10 My first robot program 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 OVAD 10 eomover 70 HOPEN 1 80 MVS P2 30 HCLOSE 1 100 MOV P1 110END Stop debugging b simply by closing the debugger Close the debugger by pressing on the icon shown in the following picture Q SlotNe 9 Retesh msi z X Online coca l on oF 10 My first robot program 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 OVAD 10 60 mov PI 70 HOPEN 1 80 MYS P2 0 HcLOSE 1 100 MOY P1 gt 110 END After testing your program in detail with the online debugger you can now continue to finally start the program Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces How to Start and Stop a Robot Program How to Load a Robot Program into a Slot It is really easy to start programs using the RCI Explorer Open the folder Programs in the robot folder click with the right mouse button on the program you want
78. m or an empty position list a warning is issued and you are asked if you really intend to download an empty program and delete the program on the robot controller It is saved to cancel the download at this point The warning keeps you from destroying valuable programs on the controller in all the cases when you actually want to upload a file from the robot controller and you select the download by mistake If an error is reported during deleting of the old program command DL for RV E or RV M robots delete the program on the robot controller manually Use the RCI Explorer to delete a program Open the Programs folder on the robot Open the context menu of the program that is going to be deleted by clicking with the right mouse button on the program name Select Delete ARCI Explorer i 4 x RCI Explorer FileName Sze saveda Lines ot bis Py 303 Bytes 03 04 17 5 Connection 478 Bytes 03 04 17 F Robot Type j Programs Pre 111i Refresh E Slots RRETAN a System Variables r K A ae S i Monitors Bice Fe ap 52 Ell Start CYC 6 arametes F 1247 111 E Start REP 19 Eb Error List a a rH Workplace RHSAH a Ei Fop S J Programs ASDFGH 2 E 5B Tools PJ cosIRoP 27 ee 1 a RPITEST 54 5 el CHECKERS 96 ae 43 i Rename J UNTITLED 23 oe Delete 1 Load into N gt Properties Uploads the selected programs from the robot to the PC 7A After the successful download of
79. mbH amp Co KG 562194 85 5 Simulation Extras gt Fault Simulation gt Fault Setting The fault log records all actions of fault localization Red LED The fault was not correctly localized Green LED The fault was correctly localized 86 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms In CIROS the simulation of so called base mechanisms is a powerful feature for simulation of work cells A mechanism is assigned to an object using the object s type Depending on the mechanism the object structure concerning number of I Os number and configuration of sections and joints is given The mechanism can only be simulated correctly if the given object structure exists To model a mechanism use the model libraries Add an object with a mechanism to the work cell to guarantee that the object structure is correct Afterwards change the shape as well as the dynamics and 1 0 names of the object to model your own mechanism Please note that to control any of the mechanisms the input values have to change from low to high to start the mechanism Moreover the output values containing the state of the mechanisms are only updated if the outputs are connected to an input Festo Didactic GmbH amp Co KG 562194 87 6 Mechanisms 6 1 Use the gripper mechanism to simulate grasping of workpieces If Gripper system input 0 of the gripper object is set to high the gripper grasps an object that has a free grip point in
80. name of the project CIROS Studio uses this directory to store all the programs that belong to your project The program name is the name CIROS Studio uses to download the robot program into the robot controller Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces The directory used for this project is displayed under Directory If you want to change the directory or if you want to create a new directory press the button Browse which will open the browse dialog Festo Didactic GmbH amp Co KG 562194 109 7 Communication Interfaces 110 x Directory B cs E Program Files el amp Cosirop gt Projects Insert your name into the text box Created by your initials into Initials and a short description of the project task into Description Proceed to the second step of the project wizard by pressing the Next button This will display the second step of the Project Wizard Project Wizard Robot Parameters Step 2 of 3 4 xj RH 104H85 i m10 Interface Cards m Additional Axis 1 L1 S v y y OAs Gyros none C lin C iot m Hands m Additional Axis 2 L2 S yo 9 i G95 97 09 none in C iat r Programming Language Movemaster Command MELFA BASIC MELFA BASIC IV Help Cancel lt Back Frish Select the robot type you are working with from the list Robot Type Festo Didactic GmbH amp Co KG
81. nd its z axis Property name Value range Mode of operation Relevant for type a EES SS Length greater than 0 0 Sets the length of the object in mm 12 3 Within this length the segments are aequidistantly arranged RatioSE greater than 0 0 Balance of the hose of shifting it more to 1 2 start or end 1 0 is default CableDuct TRUE or FALSE Flag for cable track If present and true 2 the object is a cable track CablesOneSegment TRUE or FALSE If present and true the object is a single 2 segment polyhedron CableRadius greater than 0 0 If CablelsOneSegment TRUE this value 2 is the radius of the cable NumberOfEdges corresponding to the If CablelsOneSegment TRUE this is the 2 model of the hose number of edges the polyhedron has The number of layers is calculated automatically NumberOfTurns integer Complete torsion twists of the hose If 1 2 Festo Didactic GmbH amp Co KG 562194 79 5 Simulation 80 Hints Static conduits The design of the workcell looks more nice if static hoses or conduits are visualized too During modelling these parts can be laid more easily by using this flexible object type After proper installation the object type can be reset to inactive object All calculated vertices boxes segments will remain in this position if the workcell is saved Type 1 or type 2 Type 1 is much more easily to built because one segment can be replicated by simple copy and paste but needs more vertices th
82. nication Interfaces 7 1 OPC Client Connecting Host name Server name CIROS Studio provides several communication interfaces e OPCClient e OPC coupling e PARSIFAL e Robot controller interface to Mitsubishi robot controller The OPC Client can be used to swap out the controller of an object to an OPC Server All or some of the configured lOs and robot joint values can be exchanged between the client and the server The required configuration of COM interfaces in the Windows operating system is described in chapter OPC controller connection Select an object and change its controller type to OPC Client The dialog box Properties for object will then be extended by a tab named OPC Client Properties for object General OPC Client Pi Pose localhost OK RIF OPCServer 1 Read items Visualization Inputs v Best connection v Change X Extended Fault Measuring 10 Name OPC ltem LEDBlue On Extended Mechanism f LEDGelb Ein LEDGruen Ein LEDRot Ein I Log Configuration manager Automatic configuration Options Use this field to enter the host to which you want to connect The default value is localhost If you entered a name press OK CIROS then starts to read all OPC servers of the selected host Festo Didactic GmbH amp Co KG 562194 103 7 Communication Interfaces Inputs Outputs Joint Values Connection Change configuration Log Configuration manager 1
83. nitor Servo Speed Observe the changing joint velocities of the robot x Servo Speed p Speed Refresh Time ms Actual Value Absolute Value of Maximum Value Desired Value lpm Actual Mavimum pm pm e E n fo af nfo i 2o J2 4 J2 0 Gri afp 33 598 J3 231 Ja f2 Zz tlt fo a5 fo 35 0 sfo spo Em G zoo wie i _ J 0 3s 0 J 0 Help Open the monitor Motor Current 1 Observe the changing electric currents of each servomotor Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Motor Currents 1 r Motor Current Absolute Max Refresh Time ms Actual Value Absolute Value of Maximum Value jo A Actual Maximum 4 A njo 1 02 l oo 2 00 EM 2 o ooo Ss sj E o sps epn J 003 M oa l oo Online so sft n ef E Ce fo 37 0 ie amp J8 0 J8 jo J8 0 eHe Help Stop the program Discover how to send commands directly to the robot How to Send Commands to the Robot Read and observe the safety instructions of the SAFETY MANUAL carefully before sending commands to the robot You can interactively send commands to the robot and display the reply of the robot controller with the Command Tool in the Tools folder of the RCI Explorer Festo Didactic GmbH amp Co KG 562194 143 7 Communication Interfaces Fa RCI Explorer vB RCI Explorer E RH SAHSS ce amp
84. now ready to write your first robot program Activate the Robot Program window with the robot program by clicking into the window or by selecting the window with the command Window 1 2 3 Now you can freely edit your program using the keyboard and the mouse The online help contains a detailed syntax description for every command The F1 key opens the help page of the command where the cursor is located See the Reference Manual or the Instruction Manual to get further information A simple robot program in MELFA BASIC IV might look like this My first robot program 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 i 50 OWRD 10 60 MOV P1 70 HOPEN 1 80 MVS P2 90 HCLOSE 1 100 MOV P1 110 END En Use the context sensitive help to get help on the command OVRD To open the help page place the cursor inside the OVRD command and press the F1 key To renumber a program sequentially use the command Edit gt Renumber This command can be used to renumber the whole program in this case no part of the program must be selected or only the selected range of the program Festo Didactic GmbH amp Co KG 562194 117 7 Communication Interfaces If you have added new program lines that should be inserted between other lines in the program according to their line numbers use the command Edit Sort to sort the whole program in ascending order according to the line numbers Save the program with the command File gt S
85. ns will be shown Now click on the arrow next to the output HCLOSE1 of the robot in the area 1 0 Connections and draw a connection line to the input Gripper Close of the gripper Close the window Manual Operation and save the work cell by clicking mj the button in the toolbar You can open the modeled work cell from the following installation directory of CIROS Studio lt InstallationDirectory gt GettingStarted Mitsubishi Modeling Example mod As an exercise you can do similar examples using ABB or KUKA robots For example select the ABB robot IRB 2400 10 16 or the KR6 of the robot libraries To do the I O wiring select the output inactive 000 of the robot controller Press F2 to rename the output and call it Grasp Now the output is activated and can be used as above You find numerous samples in the folder Samples of the installation directory of CIROS Studio All these samples are write protected so that you have these examples always ready for presentation in the Festo Didactic GmbH amp Co KG 562194 39 3 Modeling 3 5 Modeling via Import 40 original status The online help system of CIROS Studio provides a section Sample Models You can open these sample models in your own folder to work with them Further the online help system provides three tutorials for learning the modeling of work cells e Tutorial e Advaneced Tutorial e Tutorial PLC controlled package system The first tutorial helps you
86. o IV Realtime control ja Real time control parameter Real time compensation Maximum Visualization Cycle 0 200 0 300 s Simulation Real time ratio Minimum Simulation Cycle 1 000 0 010 IV Simulation Cycle optimisation OK Cancel Help Ben ee Simulation cycle The simulation cycle specifies the intervals in which the simulation controller interpolates the states of robots Additionally it specifies the cycle time for available PLCs and the recalculation time for all extension modules e g sensor simulation transport simulation A high value results in a fast simulation but with only very few interpolation steps Too high values may result in important steps not being calculated A low value calculates more interpolation steps but therefore decreases the simulation speed due to the need of more machine time Festo Didactic GmbH amp Co KG 562194 57 5 Simulation Example Suppose a robot needs exactly one second for a certain motion command Depending on the simulation cycle the number of interpolations would be as following 58 Festo Didactic GmbH amp Co KG 562194 5 Simulation Target Visualization Cycle Show End Positions Real Time Control Real Time Compensation Maximum Visualization Cycle Simulation cycle 0 040 0 100 0 200 0 500 1 000 Number of interpolations 25 10 5 2 1 The visualization cycle specifies the intervals in which the model in the work cell window shall
87. o aal aE Festo Didactic GmbH amp Co KG 562194 43 3 Modeling 44 At first you have to model the press the table and the door using geometric primitives of the library In a next step you have to integrate the appropriate mechanisms see chapter 6 Load the two KUKA robots KR 125 from the library and place them using the Model Explorer The robot on the yellow surface is denoted by KRYellow und the robot on the blue surface is called KRBlue Insert a Siemens PLC S7 with 8 digital inputs DI and 8 digital outputs DO Again use the Model Explorer to place the PLC at the correct position As an example we want to outline the realization of a communication between the PLC and the robot KRBlue The PLC shall send the message at which time the press is open such that the robot can place the door into the press 1 Open the list of outputs of the object PLC in the Model Explorer Rename the second output with PressIsOpen You select the appropriate output and you open by right mouse click the context menu Choose the submenu Rename and rename it by above name 2 As before rename an input of the robot KRBlue by PressIlsOpened 3 Connect the output PresslsOpen of the PLC with the input PresslsOpened of the robot This can be easily as follows Select the output range of the PLC Then the list of all outputs will be shown in the right side of the Model Explorer window Res Ef KRBlue n
88. ogram Monitor of the selected program Optionally double click on a slot to open the Program Monitor of the selected slot Festo Didactic GmbH amp Co KG 562194 137 7 Communication Interfaces How to Monitor Variable Values 138 Slot No 5 z Refresh Time ms fi 00 z 10 My first robot program 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 GETM 1 Get robot 1 for this program D10 110 RELM Release robot 1 120 END Program Name aMB4 Current Line fi o0 Dia You can actually monitor a lot of different types of robot data Discover how to monitor variable values CIROS Studio offers a wide range of different types of monitors Use the Variables Monitor to monitor the current values of variables Open the Variables Monitor by double clicking on Variables in the folder Monitors Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Fa RCI Explorer RCI Explorer t laf RH SAHSS i Tool f tk Connection Tool CLOSED a eses Type L Robot Position Tool CLOSED 3 a Bservo Speed Tool CLOSED itd E 5peed Droop Tool CLOSED System Variables E Encoder val To l ToD Monitors ncoder Values ool parameter L Motor Load Tool CLOSED 11 Motor Currents1 Tool CLOSED Eb Error List a w workplace 12 Motor Currents2 Tool CLOSED J Programs Motor Power Tool CLOSED Si Tools Inputs CLOSED iO outputs CLOSED Bb input Registers CLOSED BL output Registers CL
89. on Delete all input and output variables except the output variable HCLOSE 1 PROGRAM IMPORT DATALIST example PSL gt var TEACH ROBTARGET POSI TEACH ROBTARGET POS2 TEACH ROBTARGET POS3 OUTPUT BOOL HCLOSE1 AT 901 i i HOVE PIP POS POSITION 0 0 0 0 50 reuneet e ie HOVE LiW Poss 4 POSITION 0 0 0 0 60 ove mn rosa HOVE Law pose POSITION 0 0 0 0 89 ewoeRocrat e75 0 25 0 525 0 evs Festo Didactic GmbH amp Co KG 562194 53 4 Programming 54 Sample Program PROGRAM IRL IMPORT DATALIST Example PSL VAR TEACH ROBTARGET POS1 TEACH ROBTARGET POS2 TEACH ROBTARGET POS3 OUTPUT BOOL Grasp AT 0 BEGIN MOVE PTP POS1 MOVE PTP POS2 POSITION MOVE LIN POS2 GRASP TRUE MOVE LIN POS2 POSITION MOVE PTP POS3 POSITION MOVE LIN POS3 GRASP FALSE MOVE LIN POS3 POSITION MOVE PTP POS1 ENDPROGRAM oO 0 0 0 50 0 0 0 0 0 50 0 3 0 0 0 0 50 0 oO 20 00 S0077 The editor provides a highlighting of the syntax for your support You may adjust the highlighting using the menu Settings gt Program Editor Save the program and select the command Compile Link from the menu Programming The syntax will be checked the IRDATA code will be generated and downloaded in the virtual robot controller In window Messages all used system modules program modules and position lists as well as errors and w
90. or the USB license key email client email account for online upgrade of the license key 1 4 The product package CIROS Studio consists of a DVD a manual with Installation Instructions comprehensive installation instructions this user guide as pdf file on the DVD and a USB license key You may separately order this user guide as a print out version The installation does not need a license key The license key is only required for running the software Festo Didactic GmbH amp Co KG 562194 1 Introduction You may find all further details in the installation instruction manual of the CIROS Automation Suite 8 Festo Didactic GmbH amp Co KG 562194 2 Operating This chapter shows the first steps in using CIROS 2 1 The CIROS User Interface Workcell Window Menu Bar Joint World Coordinates Teach In Window DENO ke Oth C Drogramme 2100 SF 710 702 2210 08 389 m 710 Sick m 792 6 33115 1296 6 332 76 5 44500 2233 1 Rebotiardirg SGT SS Controller Selection Festo Didactic GmbH amp Co KG 562194 2 Operating The user interface was new designed 10 The menu File includes all Windows standard functions and following additional ones if you have opened some work cell o Activate Model This function allows you to release work cells to use them in the educational systems Robotics Mechatronics and Production o Import and export of files e g
91. pen and select the desired file type e mb4 for programming in Melfa Basic IV e mrl for programming in Movemaster Command e IRL for programming in IRL Industrial Robot Language Or create a new program with the menu function File gt New and select the desired data type The programming languages RAPID for ABB robots KRL for KUKA robots V for Staubli or Kawasaki robots are only optional available Position List The screenshot shown on the left contains a position list for a robot The name of the associated object is specified in the header Click the menu function File gt Open and select the desired file type i e e pos for Mitsubishi robot e psl for programming in IRL Alternatively create a new position list with the menu function File gt New and select the desired data type as above User Input Output The User Input Output window opens automatically if the robot program contains commands for reading and writing of data via the serial interface to and from the robot control Festo Didactic GmbH amp Co KG 562194 2 Operating 2 3 Camera Cruise H Because of the simulation of a robot control the data is not sent physically via the serial interface but it is sent to the User Input Output window where the data is displayed The Camera cruise can record different views of an active work cell window During simulation these views are recovered in rotation A new view between two views
92. pendix 8 2 Abbreviations These shortcuts are available in case of an activated program window Key Shortcut CTRL PAGE UP Resets the program to the beginning CTRL Q Continues or starts the current robot program CTRL Y Continues or starts the current robot program in cyclic mode CTRL S Stops a running program Abbreviation Description CIROS Computer Integrated Robot Simulation NLP Native Language Programming TCP Tool Center Point Festo Didactic GmbH amp Co KG 562194
93. points Note that the first of the feeder s gripper points must not be covered In case of setting system input 0 of the parts feeder to high the object at the second gripper point is moved to the first gripper point the object at the third gripper point is moved to the second gripper point etc If there is an object at the position of the first gripper point system output 0 is set to high Object Type Parts Feeder optional with Gravity LA AEE DE EAE FT AAS LIE AT ST AE A AAA AA System Input Output Input Index Type Value Description 000 digital 1 Requests a new part 0 Output Index Type Value Description 000 digital 0 No part is available 1 There is a part available Examples Object Model Library Parts Feeder 1 Miscellaneous Mechanisms Parts Feeder 2 Festo Didactic GmbH amp Co KG 562194 Miscellaneous Mechanisms 95 6 Mechanisms 6 9 This simple proximity sensor checks if there is an object with a free grip Proximity Sensor point in the grip range of the sensor s gripper point Mechanism Proximity Sensor Object Type Proximity Sensor a Te System Input Output Output Index Type Value Description 000 digital 0 No grip point detected 1 Grip point detected Examples Object Model Library Proximity Sensor Miscellaneous Mechanisms 96 Festo Didactic GmbH amp Co KG 562194 6 Mechanisms 6 10 Use the repl
94. py Copies the active window or selected text into the clipboard Command Edit Paste Pastes the contents of the clipboard into the active window Opens the dialog box for configuration of coordinate systems Select here which coordinate systems shall be displayed Toggles between Edit Mode and Simulation Mode Opens or closes the Model Explorer Festo Didactic GmbH amp Co KG 562194 8 Appendix The following shortcuts depend on the type of the activated window These shortcuts are available in case of an activated work cell window Key CTRL L 4 KEY KEY mA T YPc lt c Oo F11 SHIFT F11 CTRL F11 SHIFT CTRL F11 CTRL D Festo Didactic GmbH amp Co KG 562194 Shortcut Opens the dialog box for setting the point of view to the work cell Activates the command zoom in It magnifies the view of the work cell Activates the command zoom out It reduces the view of the work cell Activates the command default settings Activates the command front view Activates the command rear view Activates the command top view Activates the command left side view Activates the command right side view Activates the command full format Switches to wireframe representation Switches to filled surfaces representation Switches to flat shaded representation Switches to smooth shaded representation Opens the rendering dialog box to set the quality and speed of the work cell representation 8 Ap
95. ripper and the end EndGripper The following screenshots are viewing these correlations Festo Didactic GmbH amp Co KG 562194 5 Simulation E Models RH 5AH55 mod Festo Didactic GmbH amp Co KG 562194 73 5 Simulation If the Object is a flexible conduit the z axis of the grip points are directing tangentially into the hoses fixed position If the object is a cable track the z axis of the start grip point is the moving direction of the track 74 Festo Didactic GmbH amp Co KG 562194 5 Simulation Type 1 The hose is modeled by single overlapping segments The positions of these segments are calculated by the object controller The first segment is the topmost listed element in the explorer view respectively the last Enumerations have no relevance The length of the object can be adapted by the property Length and its unit is mm Assigning the property RatioSE the balance of the hose can be adapted as shown in picture 1 and 2 The default value is 1 0 RatioSE 1 RatioSE 5 0 Festo Didactic GmbH amp Co KG 562194 75 5 Simulation If the length is set too large the segments do not overlap and become singular parts as shown in following picture a 9 e 0 e 6 Type 2 This type of hose is not built by N sections but by one cylindrical polyhedron which is bent by modification of its polyhedron points vertices containing N 1 layers The object controller
96. rk cell Programming 49 Simulation 57 Settings 57 Example Work cell Simulation 62 3 Contents 5 3 5 4 5 5 5 6 5 7 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 7 1 7 2 7 3 7 4 8 1 8 2 Collision Detection 62 Sensor Simulation 64 Manual Operation 68 Hose and Cable Track Simulation 69 Fault Simulation 82 Mechanisms 87 Gripper 88 Conveyor Belt 89 Push Cylinder 90 Rotary Drive 91 Turntable 92 Two Way Push Cylinder 93 Turning Mover 94 Parts Feeder 95 Proximity Sensor 96 Replicator 97 Trash Can 98 Action Objects 99 Communication Interfaces 103 OPC Client 103 OPC Controller Connection 105 PARSIFAL 106 Robot Controller Interface 107 Appendix 152 Keyboard Usage 152 Abbreviations 154 Festo Didactic GmbH amp Co KG 562194 1 Introduction 1 1 The 3D Simulation System CIROS Festo Didactic GmbH amp Co KG 562194 Welcome to the new release 1 0 of CIROS Studio It replaces the previous product COSIMIR Professional Release 4 2 The new name CIROS Computer Integrated Robot Simulation shall point out that the software kernel of the previous simulation system COSIMIR was completely renewed The concept and the main features of COSIMIR Professional are kept but the user interface is new designed The data types of COSIMIR and CIROS are fully compatible CIROS Studio is part of the CIROS Au
97. rograms of the robot xi RCI Explorer FileName __size Type _ Savedat___ igh RH SAHSS 1KB MB4 0 Connection i 1KB POS A Robot Type Am R T E Slots A a System Variables Monitors al Parameter E Error List 08 05 2003 07 48 08 05 2003 07 48 S w workplace J Programs Ka Tools 1 Object s selected Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Up and Download Download Program PC gt Robot Ed a Program I Complete Program IV Delete all before Downloading From Line figs To Line fas F AlliPosition From Postion Mo Ta Position foo Name 3 MB4 IV Show Dialog Cancel Help xl If you release the mouse button the download starts The download can also be started with the command Download from the context menu of the program Click on the program 3 MB4 with the right mouse button to open the context menu Alternatively you can download a program without the RCI Explorer too Activate the window with the robot program by clicking into the window or by selecting the window with the command Window 1 2 3 Download the program by executing the command Extras gt Online Management gt Download PC gt Robot The dialog box Up and Download is displayed Usually it is best to use the default values in the dialog Up and Download and download the complete program To download the complete program select the option Complete Program If you want to
98. rties Discover next how to change robot parameter values Select the folder Parameter If you are using an A series robot RV A RH AH RP AH then the list of all available parameters is requested from the robot first COSIROP requests this parameter list only once Afterwards it will be used in any further projects with your robot To change a parameter open the Properties dialog by double clicking on the parameter Double click on the parameter BZR CI Explorer E x RCI Explorer E RH SAHSS Connection Robot Type Programs E Slots 8 System Variables Robot no for additional axis Rated speed of motor for additional axis rpm Round direction of additional axis CW CCW Of yt Synchronized moving with L1 L2 axis ON OFF 7 Unit for additional axis deg mm 0 1 Monitors Number of Robot for User Definition 5 parameter No signal Low battery OUTPUT Bh Error List z BOOT S W Version EH Workplace Brake Release Mode 0 1 Normal Timer Programs ZR Bu JOFE 5B Tools Compensation For Flexure Camera Layout Offset Data for Camera Baud rate Baud rate Baud rate Baud rate Baud rate Baud rate Baud rate DTR control O OFF 1 0N E cntraze NTR contealf AFF LAN 1 Object s selected Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Enter a new value for the parameter in the Properties dialog If you are working with an A series robot RV A RH AH RP AH be sure to switch the key s
99. s we have to modify our program first Add the MELFA BASIC IC commands GETM 1 and RELM GETM 1 reserves the robot for the current program This is necessary whenever a robot is to be moved by a program that is not running in slot 1 Only one single program can move the robot at any given time The robot controller assumes that only the program running in slot 1 is moving the robot Thus the command GETM 1 is not necessary if the program is only running in slot 1 But all other programs have to claim the robot first before they can use it PROGRAM FILES COSIROP PROJECTS DEMO a Me4 ue E1 10 My first robot program a 20 Author Dipl Ing Frank Heinze 30 Date 07 04 2003 40 50 GETM 1 Get robot 1 for this program 60 OVRD 10 70 MOV P1 80 HOPEN 1 90 MVS P2 100 HCLOSE 1 110 MOV P1 120 RELM Release robot 1 130 END v EN Festo Didactic GmbH amp Co KG 562194 135 7 Communication Interfaces 136 Check the syntax of the modified program and download it to the robot If necessary check the functionality of the program with the debugger Load the modified and checked program into slot 5 Click with the right mouse button on the program name in the folder Programs in the robot folder Select Load to gt Slot 5 The program is loaded into slot 5 fa RCI Explorer x RCI Explorer Eef RH 5AHS5 t amp Connection a Robot Type Ep 303 Bytes 03 04 17 5 478 Bytes 03 04
100. ssary for the establishment of a network connection The firewall of both machines should be configured to allow connections to TCP Port 135 and OPCEnum exe usually found at lt Windows Directory System32 You can find examples for DCOM settings in the section Control OPC coupling gt Setup and Installation of the online help system Use the Extension PARSIFAL to connect the simulation system to other simulation and controller systems To configure PARSIFAL use the corresponding tab of the Properties for workcell dialog Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces 7 4 Robot Controller Interface Properties for workcell Grid Libraries Print Sensor Simulation PARSIFAL s gt Parameter Options for PARSIFAL Connections ah Logging Model Update Model Partitioning Choose from the list of parameters the parameter to configure Depending on the type of the chosen parameter some control elements are displayed at the bottom of the dialog box You are able to configure the following parameters for PARSIFAL Save client connections with the workcell Logging in message window Logging in log file bin PARSIFAL log Cycle time of text based notification for model update Automatic model partitioning The RCI Explorer Robot Controller Interface is the new information processing center of CIROS Studio With the RCI Explorer you can up and download programs simply
101. t to insert the current robot position into the position list as position number Pos No To override an existing position just enter the position number into the text box Pos No or use the spin buttons next to the text box Set the Jog Speed and the Jog Increment to appropriate values Jog Operation RH 5AH55 MELFA BASIC 1 olx Close Hand XYZ Jog JOINT Jog TOOLJog Set XYZ Position Lule f7 r Position List Pos No 1 a 4 gt I Current Position gt Pos List fi 01 4 mms dog Increment KI g 2 x Y Z 15 000 mm By 5 000 Deg Help Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces How to Check the Syntax of your Program Create two positions P1 and P2 in your current position list and save the position list with the command File Save Your position list might look like this C PROGRAM FILES COSIROP PROJECTS DEMO 3 P0S 420 0 260 0 180 0 Discover next how to check the syntax of your program Your first robot program and the associated position list are now located on the PC in the project directory In the RCI Explorer they are accessible in the folder Programs in your Workplace Click with the right mouse button on the name of the robot program and open the context menu of the program Select Syntax Check to check the syntax of your program FA RCI Explorer x RCI Explorer FileName size type savedt
102. the element using the mouse By clicking the right mouse button you can open a context menu with most important commands depending on the current element selection Festo Didactic GmbH amp Co KG 562194 3 Modeling The Model Explorer can be opened as follows Menu Modeling gt Model Explorer Keyboard CTRL T Toolbar xl 3 4 In this chapter modeling of a simple work cell is described step by step Example Work cell Programming and simulation of this work cell are described in the next Modeling chapters Choose command New Work cell from the File menu to create a new work cell Specify the filename e g Example mod for the new work cell After creating the new work cell you are able to specify a different work cell name as well as properties for the work cell e g background color floor color and floor size Use the dialog Properties for work cell while the work cell name is Festo Didactic GmbH amp Co KG 562194 33 3 Modeling selected in the Model Explorer to change work cell properties Change the x value of the floor seize to x 2200 mm 34 Festo Didactic GmbH amp Co KG 562194 3 Modeling Open dialog box Model Libraries by choosing command Model Libraries from the Modeling menu or clicking the button in the toolbar Add a box from the model library Miscellaneous Primitives to the work cell Fle ton tan as Somas Woon Heb CeUG BARA SHAM HCE A eaS i
103. the robot controller Be sure to use a Serial cable that connects the hardware handshake signals DTR RTS CTS of the serial interface too See the robot manual for details Use the RCI Explorer to check the connection properties Open the context menu of the Connection by clicking with the right mouse button on the folder Connection Select Properties from the context menu Festo Didactic GmbH amp Co KG 562194 113 7 Communication Interfaces How to Establish a Connection to the Robot Drive Unit 114 RCI Explorer a ec ZF Connection Type R5232 No Connection A Robot Type Ziyuny 3 Programs Connect Slots n a System Variables gra Disconnect Monitors al Parameter E Error List Eff Workplace J Programs e Tools Edits the connection properties 3rd Check if your Communication Interface is the Serial Interface Alternatively you can open the dialog Communication Port Common also with the command Extras gt Settings gt Communication Port The command is only available if a work cell is loaded Common Serial Interface TCP IP m Communication Interface TCP IP Interface m Monitor IV Show in Message Window Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces 4 Switch to the property page Communication Port Serial Interface to select the port and to set the communication parameter Select the corre
104. the robot program discover how to download the position list to the robot controller Festo Didactic GmbH amp Co KG 562194 125 7 Communication Interfaces 126 Downloading a position list The steps required to download a position list are almost the same as for a program The easiest way to download a position list from the PC to the robot controller is to use the RCI Explorer Select the position list you are going to download to the robot controller in the folder Programs on your Workplace Keep the left mouse button pushed and drag and drop it into the Programs folder on the robot The example demonstrates another way to download a position list Select the position list 3 POS Open the context menu with the right mouse button In the context menu select Download fa RCI Explorer a xj RCI Explorer FileName Sze Type Savedat E3 3 me4 E RH SAHSS 1KB MB4 08 05 2003 07 48 lt t Connection A Robot Type Refresh lt 3 Programs EQ ResmaGm naa Cant E Slots t amp Open a System Variables Monitors Al Parameter Eh Error List Ea Coy B w workplace ee J Programs sane SE Tools X Delete Properties Downloads the selected programs from the PC to the robot Alternatively you can download a position list without the RCI Explorer Activate the position list window and execute the command Extras gt Online Management gt Download PC gt Robot Festo Didactic Gmb
105. tomation Suite CIROS Studio is the universal 3 D simulation system suitable for various application ranges adaptable in composition efficient and convenient for everyday work Area of product appliance is widely spread It ranges from the usage of 3 D simulation in training and education to the realisation of digital factories up to real time simulation of complex immersive and virtual environments CIROS Studio runs on PC based operating systems Windows 2000 Windows XP und Windows VISTA CIROS Studio enables you to create a detailed planning of industrial manufacturing work cells to test the reachability of critical positions the development of robot and PLC programs and the optimization of the cell layout All movements and handling processes can be simulated to check collision problems and to optimize cycle times The Modeling Extensions for CIROS support the composition of robot based work cells Efficient modeling is provided by using component libraries containing machinery robots tools conveyor belts part feeders etc Free 3D modeling and import from CAD systems are also possible via the standard data format STEP 1 Introduction 1 2 Different text formats are used for certain text contents as well as for Text Formats keyboard shortcuts Text Format bold Used for Commands menus and dialog boxes italic Enter text instead of the italic printed text CAPITALS Acronyms dire
106. urrent Alarm lt 3 Programs 1 ey T Reset L ools Get Position Robot gt PC Set Position PC gt Robot Properties m Create Backup E Load Backup gt Programs Parameter Creates a complete backup of the robot data System Programs A dialog box pops up Select a folder for the backup Be sure to select an empty folder for the backup This backup folder will then contain only files necessary for the backup and none of your PC data will be overwritten during the backup The backup can take several minutes especially if there are a lot of programs on the robot controller and you are connected via a slow serial link with the robot Festo Didactic GmbH amp Co KG 562194 7 Communication Interfaces Store the backup data in a safe place and use it whenever you need to recover the state of the robot at the backup time To load a backup select Load Backup gt All in the context menu of the robot fa RCI Explorer E x RCI Explorer Description vawe a Reduce Folder Connectior Folder F Robot Type E start c C Folder indy H Start REP Folder lots z 98 System Var a seed Monitors Servos on ao Parameter Servos off re EA Error List ree Mf Workplace Ala Current Alarm J Programs Reset l T Tools j Get Position Robot gt PC 7 Set Position PC gt Robot 27 Properties Create Backup R Programs Parameter System Programs Loa
107. witch on the robot controller to Teach Set the value of BZR to 0 and press the OK button Properties of BZR xi Parameter Current Value fi New Value jd Parameter Description Last Refresh April 09 2003 16 36 10 Abbrechen Hite The setting of BZR to 0 switches off the acoustic error signal Note that you have to switch the robot controller off and back on again to confirm the changes Change the parameter BZR back to 1 switch the controller off and on and switch the key switch back to Auto Ext Festo Didactic GmbH amp Co KG 562194 147 7 Communication Interfaces How to Check the latest Error Messages 148 Check the last error messages by selecting the folder Error List COSIROP requests the error list from the robot FE RCI Explorer RCI Explorer a g A RH SAHSS 17 33 10 Com mesg is tao long E Connection 17 30 04 The servo is OFF a Robot Type 00 38 18 Com mesg is too long b Pogam 22 28 04 The servo is OFF 22 20 56 Com mesg is too long yystem Variables E 18 09 36 Com mesg is too long 17 27 22 Robot Language is mismatched 17 26 16 Too long program name r w workplace 17 25 34 Too long program name J Programs 23 04 50 Too long program name Gi Tools 19 03 42 Position data exseeds the limit 18 01 50 Syntax error 03 05 05 18 55 44 Com mesg is too long lonitors E Parameter 127 Object s Determine the cause of any current error Select Current Alarm from
108. xis You may specify the type of the axis The selection lin describes a travel axis rot a rotating table This item is only available if the first additional axis is selected as lin or rot and if the robot type supports 2 additional axis Use this item to determine the second additional axis You may specify the type of the axis The selection lin describes a travel axis rot a rotating table This item is only available if the first additional axis is selected as lin or rot and if the robot type supports 2 additional axis Project Wizard History Step 3 of 3 Changes 2007 01 24 Generation of this project for demo purposes Cancel Festo Didactic GmbH amp Co KG 562194 29 3 Modeling Changes This field may be used for a description of the changes of the project You may enter any sentences words characters and symbols Then click on the button Finish and the work cell with the selected robot the programming window and position list will be shown Using the menu function Window gt Workspace gt Robot programming gt Program Position List and I O s you get an ideal display of your application windows 30 Festo Didactic GmbH amp Co KG 562194 3 Modeling If you select Work cell then following workspace with integrated Model Explorer will be opened Festo Didactic GmbH amp Co KG 562194 31 3 Modeling 3 3 Model Explorer 32 Use the Model Explorer to access all t
109. y of the user interface Online Management Configuration of the online communication interface to the Mitsubishi robot controller ORL The ORL name configuration can be used to create O names corresponding to Operation Resource Labels GriP Configuration of the grip functionality of a robot Configuration of the IRDATA interpreter Configuration of the Camera Cruise Type of orientation representation Configuration of the programming editor Configuration of the simulation analysis TCP Tool Centre Point offset Transport simulation Vertex normals 11 2 Operating e The menu Window includes the expected standard functions and the submenu Workspace This menu supports you in the window configuration of your user interface called workspace You can save and later restore your own configuration Additionally you may use numerous predefined workspace configurations PLC Operation o Manual Operation o Fault Operation o Teacher mode o Robot Programming 2 2 The most important window types of the CIROS user interface are Window Types specified in the following list C Programme C DER Work cell Window Res cr 7 A graphic representation of the currently selected work cell is displayed in the work cell window Additional views can be opened in the work cell window with the menu function View gt New Window allowing you to observe different perspectives simultaneously The three dimensional representation of the work cell

562194 EN 08/08 CIROS® Studio 1.0 User's Guide

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562194 EN 08/08 CIROS&reg; Studio 1.0 User's Guide

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562194 EN 08/08 CIROS® Studio 1.0 User's Guide